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Copter-4.0
Commit Graph

337 Commits

Author SHA1 Message Date
Peter Barker
88dfb3220b Rover: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker
90d13548a1 Rover: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Peter Barker
588829161b Rover: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker
0fa9f43815 Rover: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Randy Mackay
b405286262 Rover: nav-controller-output message sourced from flight mode 
future change will allow overriding these values so each mode can provide the best value
 2018-12-13 09:30:19 +09:00
Randy Mackay
2b97e496ff Rover: nav-controller-output msg sends roll as zero and pitch for balance bot 2018-12-13 09:30:19 +09:00
Peter Barker
d1eb9c5c71 Rover: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker
434a263ef4 Rover: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker
a5b5688960 Rover: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker
b67876316a Rover: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker
9665d8d2e9 Rover: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker
0d8e3bdfd8 Rover: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Peter Barker
dc4e58de13 Rover: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker
54d4030ed1 Rover: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Peter Barker
5dcf4dfffc Rover: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay
1069ab0860 Rover: GCS invoked RTL returns failed when set-mode fails 2018-11-12 15:58:21 +09:00
Randy Mackay
6167e6ac0b Rover: gcs fs not triggered if rc-overrides arrive 
also not triggered if manual-control messages arrive
also minor restructure of gcs_failsafe_check (non-functional)
also remove unnecessary failsafe_trigger call when heartbeats arrive
 2018-11-02 10:31:37 +09:00
Randy Mackay
047f704236 Rover: last_heartbeat_ms moved to failsafe structure 2018-11-02 10:31:37 +09:00
Randy Mackay
4dbff6af7e Rover: use AP_WindVane's send_wind 2018-11-01 18:04:19 +09:00
IamPete1
0dddc2eafe Rover: add sailboat tacking 2018-11-01 18:04:19 +09:00
Peter Barker
9a263780d0 Rover: move handling of gimbal messages up 
Rover: move handling of mav_cmd_do_mount_control up

Rover: move handling of deprecated mount messages up

Rover: move handling of command_do_set_roi up

Rover: move handling of command_do_set_roi up

Rover: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Raouf
fc5ce7b273 Rover: send obstacle_distance messages to proximity lib 2018-10-02 10:37:13 +09:00
Randy Mackay
c3f3ee03d0 Rover: windvane calibration can be started with preflight-calibration msg 
send COMMAND_LONG with MAV_CMD_PREFLIGHT_CALIBRATION command and set param6 field to 3
 2018-09-28 10:40:12 +09:00
IamPete1
4366bae96d Rover: add sailboat support 2018-09-28 10:40:12 +09:00
Peter Barker
7c60c85a12 Rover: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker
a5691500ad Rover: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Randy Mackay
dd3163b065 Rover: rename AC_RALLY to AP_RALLY 2018-08-30 10:00:56 +09:00
Randy Mackay
f0ad8760e2 Rover: move rally to g2 2018-08-30 09:55:05 +09:00
Raouf
90fd64cf3a Rover: add support for rally points 2018-08-30 09:54:51 +09:00
Randy Mackay
5aa1286344 Rover: report left and right wheel control PID 2018-08-27 16:44:33 +09:00
Randy Mackay
e0fa829665 Rover: pitch PID_TUNING sends degrees 
also send FF although it is rarely used
 2018-08-27 16:44:33 +09:00
Randy Mackay
289fe6c391 Rover: minor fixes for reversed handling 2018-08-22 14:25:22 +09:00
Raouf
df3b6202f5 Rover: support DO_SET_REVERSE commands in guided, RTL, SmartRTL 2018-08-22 13:36:44 +09:00
Raouf
80753430e8 Rover: Accept DO_SET_REVERSE command 2018-08-22 13:36:41 +09:00
Randy Mackay
0722c6a265 Rover: minor format fix to GCS_MAVLink.cpp 2018-08-06 11:30:22 +09:00
Peter Barker
5d923aed85 Rover: remove dead gcs failsafe code 
Also use rc().has_valid_input() before using radio for trim
 2018-08-02 15:21:03 +09:00
Randy Mackay
84bda4e893 Rover: follow mode fixes and improvements 
fix follow endless loop on enter
pass mavlink messages to AP_Follow
separate follow from guided
follow slows based on yaw error
check follow is enabled before entering follow mode
fix order in switch statement when converting from mode number to mode object
remove unused last_log_ms from follow mode
 2018-07-18 15:11:09 +09:00
Peter Barker
b62639e07c Rover: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
0785e48718 Rover: handle command_int in base class 2018-07-06 09:43:09 +10:00
Peter Barker
1da3e8f182 Rover: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
e1408696dc Rover: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Ebin
936ebbe1f3 Rover: Added BalanceBot as a rover frame 2018-06-28 21:55:20 +09:00
Andrew Tridgell
667ad98057 Rover: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
87a3fcdd02 Rover: remove usb-mux checking 
Nobody ever uses the result from this
 2018-06-20 02:12:56 +01:00
Peter Barker
ab6cf171da Rover: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Michael du Breuil
c85f8c7bf5 Rover: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Randy Mackay
a08a955cbc Rover: accept DO_CHANGE_SPEED commands 2018-06-11 09:10:35 +09:00
Peter Barker
36705af8ff Rover: create an enumeration to hold vehicle mode constants 
This gives us type-safety on the mode numbers.  This is advantageous as
some of these symbols exist with different values elsewhere in the code.
 2018-06-08 08:41:16 +09:00
Michael du Breuil
cc772710ec Rover: Rework to support override changes 2018-06-05 09:51:09 +10:00
Peter Barker
424d243c7f Rover: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Randy Mackay
1e058045f7 Rover: guided mode more forgiving of set-position-targets type_mask field 
accept position targets regardless of any other bit settings in type mask field.  This makes rover more forgiving of errors in the type_mask field.
 2018-06-01 15:05:48 +09:00
Peter Barker
829d18874e Rover: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
9d83ee8cc7 Rover: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Peter Barker
8101f2b573 Rover: move sending of simstate up 2018-05-23 18:36:50 +10:00
Peter Barker
e377debf25 Rover: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
3f4783fa5d Rover: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker
90124c20cb Rover: shorten time remaining in try_send_message 
The scheduler table entry for retrying defered messages doesn't allow
enough time for try_send_messages to run.

This change makes the time-remaining requirement the same as Plane.
 2018-05-21 18:16:56 +09:00
Peter Barker
1ecd371cd0 Rover: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
3799a13bc3 Rover: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
c9d47c4ed5 Rover: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
ace48d72b0 Rover: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
a37c8eae1f Rover: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker
0d3051e46a Rover: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Michael du Breuil
dc5fae9ea6 Rover: Support rangefinder MAVLink changes 2018-05-16 23:21:41 +01:00
Peter Barker
b38d23d542 Rover: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
a692acad81 Rover: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
a78fe0896f Rover: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
9e1811027d APMrover2: move try_send_message handling of RC_CHANNELS_RAW up 2018-05-08 12:33:32 +01:00
Peter Barker
1bc208584f Rover: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
25c2efb3ae Rover: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
d66cb1dda0 Rover: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Michael du Breuil
05173f24c6 Rover: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Michael du Breuil
3bad3b2e68 Rover: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Francisco Ferreira
b2af1f1e05
Rover: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
a45e3cba15 Rover: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
b407a4eed8 Rover: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
762b31b147 Rover: create a preflight calibration function 
Some functionality has moved up.
 2018-04-02 23:25:05 +01:00
Peter Barker
57ed822db0 Rover: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Peter Barker
3c58eca0ab Rover: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Randy Mackay
96ae9cef14 Rover: send correct mav-type for boats 2018-03-22 09:11:52 +09:00
Peter Barker
bb7bed0614 Rover: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
9d0da4a71f Rover: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
81ba037582 Rover: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
78ecf55fec Rover: use AP::ahrs() for GCS_MAVLink 2018-03-07 12:34:39 +00:00
Randy Mackay
24b8ed48b6 Rover: global-pos-int uses vel from EKF instead of GPS 2018-02-13 08:52:48 +09:00
Randy Mackay
f47e65822f Rover: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
khancyr
5503a0069d Rover: add proximity library 2018-01-22 17:18:41 +09:00
khancyr
c3fb985ec5 Rover: add fence support 2018-01-22 17:18:41 +09:00
Dylan Herman
c14af79975 Rover: now sends SCALED_PRESSURE msg 2018-01-22 10:04:57 +09:00
Randy Mackay
5167ec7708 Rover: send PID to GCS regardless of mode 
Also add some comments
 2018-01-12 08:15:34 +09:00
Randy Mackay
f6f40afcda Rover: rename control_mode_from_num to mode_from_mode_num 2017-12-12 10:39:26 +09:00
Randy Mackay
8e80490098 Rover: reporting gets lat accel from attitude control 2017-12-09 12:18:49 +09:00
Randy Mackay
57067fb8bc Rover: add WP_SPEED and RTL_SPEED 
This separates the default/maximum speed used in Auto, Guided, RTL and SmartRTL from the CRUISE_SPEED which is used as the base for the speed-to-throttle controller (along with CRUISE_THROTTLE)
 2017-12-07 07:29:10 +09:00
Randy Mackay
988e4290dd Rover: formatting and comments for set-position-target handling 2017-12-05 12:15:33 +09:00
khancyr
9299943347 Rover: adjust setpoint_velocity handling 2017-12-05 12:14:46 +09:00
Peter Barker
1d2ec9054b Rover: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Randy Mackay
5b7cd31221 Rover: send steering PID tuning to GCS in most modes 
Using manual_steering and auto_throttle is not perfectly correct because we will send steering rate PID info in HOLD mode but will not send throttle PID info in Steering mode
 2017-11-29 09:38:53 +09:00
khancyr
279a57dc10 APMrover2: fix servo_out to GCS message 2017-11-21 20:23:55 +09:00
Peter Barker
baf82cec22 Rover: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
Pierre Kancir
4d38eb85a1 APMRover2: Add support of MANUAL_CONTROL msg 2017-10-31 09:31:05 +09:00