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Commit Graph

1926 Commits

Author SHA1 Message Date
Michael du Breuil
8d988de033 Rover: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil
5dba9b0e48 Rover: Add keydump feature 2019-07-30 10:42:16 +10:00
Randy Mackay
a5c76b614e Rover: resolve send_text compiler warnings 2019-07-30 08:44:06 +09:00
Randy Mackay
35a57d1156 Rover: param conversions for FF and FILT params 2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Peter Barker
bab31a2d61 Rover: enable RC calibration checks 2019-07-24 15:40:09 +09:00
Peter Barker
2bc3f8b5c9 Rover: remove dangling print_mode method declaration 2019-07-24 13:35:01 +09:00
Tom Pittenger
692bf1c931 Rover: null check for unconfigured RCMAP_YAW which is not use don all vehicle types 2019-07-23 09:39:02 +10:00
Pierre Kancir
86406fdb02 APMrover2: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Peter Barker
4e5696a13a Rover: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Lyuyang Hu
5f37ed2bb8 Rover: rename APMrover2.cpp to Rover.cpp 2019-07-11 11:43:32 +09:00
Lyuyang Hu
43719d5e5d Rover: move contents of Rover.cpp to APMrover2.cpp 2019-07-11 11:43:29 +09:00
Peter Barker
a4a54dc0cd Rover: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker
98f637ba6c Rover: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker
ca03c5b2a9 Rover: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Peter Barker
9d95933845 Rover: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker
ee4e876fd7 Rover: stop setting beacon in AHRS 2019-07-01 07:20:58 +09:00
Peter Barker
a50004baff Rover: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil
06e7120b4b Rover: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
Peter Barker
ea2de1c11a Rover: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker
4a2022d6e3 Rover: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker
e2df3225b2 Rover: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Michael du Breuil
631a0bdbff Rover: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker
ced80adaa5 Rover: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Randy Mackay
c233c3aff3 Rover: integrate OAPathPlanner 2019-06-11 13:13:22 +09:00
Peter Barker
c61412d2d1 Rover: correct get_distance_to_destination in loiter mode 2019-06-05 14:35:30 +09:00
Peter Barker
df3a7d32ea Rover: move common proximity pre-arm checks up 2019-06-04 08:45:34 +09:00
Peter Hall
8caa753a55 Rover: init windvane with serial_manager 2019-06-03 10:48:19 +09:00
Tatsuya Yamaguchi
e18b3cac6b Rover: Allowed to arm in Manual mode without GPS 2019-06-03 08:26:14 +09:00
Peter Barker
22c5954c8f Rover: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker
55a9165624 Rover: emit throttle armed and throttle disarmed statustexts 2019-05-30 07:37:30 +09:00
Peter Barker
def3bb374f Rover: move check for ARMING_CHECK_NONE back into Rover 
Rover allows all prearm and arm checks to be bypassed with
ARMING_CHECK_NONE.  Not all vehicles allow this, so move this bypass
back into Rover.
 2019-05-30 07:37:30 +09:00
Peter Barker
9851ec1ddb Rover: move arming-related functionality into parent classes 
Logging moves up
arming via mavlink moves up
arming via switch moves up
 2019-05-30 07:37:30 +09:00
Randy Mackay
66fa948e27 Rover: send position-target-global-int mavlink messages 2019-05-29 09:40:05 +09:00
Randy Mackay
93b05d7d8a Rover: add get_desired_location method 2019-05-29 09:40:05 +09:00
Peter Hall
54165dbc9c Rover: GCS_Mavlink: add windvane speed calabration 2019-05-28 08:35:58 +09:00
Peter Barker
9f97125656 Rover: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Patrick José Pereira
1c816b1fe1 rover: Fix parameter type capitalization 
This parameter type is used by groundstation to create the parameter subcategory
Since this creationg is case sensitive, the capitalization should be done here.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-05-18 08:40:56 +09:00
Randy Mackay
c69adf8a7d Rover: 3.5.1 release notes 2019-05-17 13:29:57 +09:00
Arjun Vinod
14cb042e89 Rover: use WP_SPEED instead of CRUISE_SPEED to set loiter's maximum speed 2019-05-16 08:43:29 +09:00
Andrew Tridgell
e046d86c59 Rover: fixed typo in log write 2019-05-15 15:33:48 +10:00
Peter Hall
e2ed76886c Rover: AP_MotorsUGV make has sail protected 2019-05-15 11:29:39 +09:00
Peter Hall
b5782f0b7a Rover: convert old sailboat parameters 2019-05-15 11:29:39 +09:00
Peter Hall
2d9a0195ce Rover: make sailboat a class 2019-05-15 11:29:39 +09:00
Peter Hall
d5f3cf50e4 Rover: Parmeters: remove old sailboat params 2019-05-15 11:29:39 +09:00
Peter Hall
f22d7c906a Rover: move to use new sailboat class 2019-05-15 11:29:39 +09:00
Tom Pittenger
818b1a77ea Rover: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Peter Barker
e9c5034c54 Rover: fix build when rally points disabled 2019-05-10 09:13:53 +09:00
Randy Mackay
8c034e6fa2 Rover: prepend _old to some unused param enums 2019-05-10 06:55:35 +09:00
Randy Mackay
d0a39e6114 Rover: fix notification in guided and rtl 2019-05-10 06:55:35 +09:00
Peter Barker
40f3f414cd Rover: handle AR_WPNav failing to set desired location 2019-05-10 06:55:35 +09:00
Randy Mackay
20152dbdb7 Rover: fix logging of desired lateral acceleration 2019-05-10 06:55:35 +09:00
Randy Mackay
39418abafb Rover: use AR_WPNAV_HEADING_UNKNOWN in place of local define 2019-05-10 06:55:35 +09:00
Randy Mackay
1f2500d268 Rover: follow uses local desired_yaw_cd 
reducing dependency on shared _desired_yaw_cd with the hope that it can eventually be removed
also minor comment update for desired_yaw_cd
 2019-05-10 06:55:35 +09:00
Randy Mackay
2b654983a9 Rover: yaw_error_cd becomes local variable in Loiter only 2019-05-10 06:55:35 +09:00
Randy Mackay
c4766ec143 Rover: remove speed_error that is never updated 2019-05-10 06:55:35 +09:00
Randy Mackay
75ba96b7a2 Rover: separate nudge from calc_throttle 
This is required because AR_WPNav produces an acceleration adjusted desired speed meaning in rare cases where the vehicle is moving in reverse at the time auto is engaged, the desired speed may be temporarily negative as the vehicle slows.  In these situations we do not want to allow the vehicle's speed to be nudged to a higher reverse speed if the pilot's throttle stick is all the way down
 2019-05-10 06:55:35 +09:00
Randy Mackay
a94ebc5bc3 Rover: integrate navigation library 2019-05-10 06:55:35 +09:00
Randy Mackay
c3948bb074 Rover: add AR_WPNav to build 2019-05-10 06:55:35 +09:00
Tom Pittenger
d1f7485e14 Rover: add STICK_MIXNG param 2019-05-03 13:14:11 -07:00
Tom Pittenger
a798f9eb27 Rover: refactor motor.set_steering() to mode.set_steering() 2019-05-03 13:14:11 -07:00
Tom Pittenger
b1df8327d4 Rover: fix misleading param comments 2019-05-02 09:19:04 +09:00
Randy Mackay
110971d924 Rover: 3.5.1-rc1 release notes 2019-04-30 13:14:40 +09:00
Randy Mackay
66a0ce9c40 Rover: follow mode does not use lane based speed control 2019-04-26 12:51:33 +09:00
Tom Pittenger
b3c5971538 Rover: increase RC timeout failsafe from 200ms to 500ms. 
- this allows for a smoother MAVLink_RC_Override over nasty lossy links
 2019-04-26 11:16:59 +09:00
Peter Barker
7de995aa3e Rover: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker
47d9960eb9 Rover: call compass cal routine directly from sched table 2019-04-23 10:06:17 +10:00
Pierre Kancir
f91ffffca7 APMrover2: use past_interval_finish_line and line_path_proportion from Location 2019-04-23 09:20:43 +10:00
Randy Mackay
1969a84e01 Rover: fix omni tri steering and lateral factors 2019-04-22 13:34:48 +09:00
Peter Barker
482bb27fe3 Rover: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Michael du Breuil
4fda39a79a Rover: Check all EKF cores for health on arming 2019-04-09 10:53:25 +10:00
Peter Barker
5e3be86665 Rover: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Michael du Breuil
8cf7c47f96 Rover: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir
007d317741 APMrover2: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil
7634b988d7 Rover: include FWversion 2019-04-05 20:12:53 +11:00
Patrick José Pereira
70fa8bc8c0 Rover: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Tom Pittenger
fe9a9479e6 Rover: assign notify is_autopilot_mode flag 2019-04-03 10:10:52 +11:00
Peter Barker
fcfd37c025 Rover: rely on AP_Mission to emit GCS text 2019-04-02 11:07:58 +11:00
Peter Barker
d794c0fe53 Rover: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker
578438c178 APMrover2: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Peter Barker
dabf92f5b6 Rover: use sanitize method rather than location_sanitize function 2019-04-02 10:19:38 +11:00
Tom Pittenger
6f5497cac3 Rover: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
32b29b3394 Rover: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Peter Barker
4d4a63cc33 Rover: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker
fda4487afe Rover: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Peter Barker
58de6f1e68 Rover: remove unused channel_aux member 2019-03-27 10:01:41 +11:00
Patrick José Pereira
e8b5fd4c70 Rover: Fix typos 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 15:39:39 +11:00
Peter Barker
f63a5d5c1b Rover: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
Peter Barker
6b26e87854 Rover: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker
47f55b5fed Rover: remove copy of home 2019-03-19 15:27:16 +09:00
Peter Barker
9c36887a90 Rover: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
903b2e381b Rover: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00
Peter Barker
070b185d2a Rover: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker
5e73648d2a Rover: move FRsky telemetry up into common GCS telemetry class 2019-03-19 14:39:14 +11:00
Peter Barker
7d2138bed9 Rover: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Randy Mackay
eb96dcf173 Rover: consolidate compass calls in sensors.cpp 2019-03-16 13:26:08 +09:00
Randy Mackay
c36345b2cc Rover: move declaration of rpm_update 2019-03-16 13:26:08 +09:00
Randy Mackay
7a80eb0169 Rover: move update_mission to APMrover2.cpp 2019-03-16 13:26:08 +09:00
cindyywang
d9805a9366 Rover: move methods in commands_logic.cpp to mode_auto.cpp 2019-03-16 13:26:08 +09:00
Randy Mackay
5286b6fab6 Rover: re-order auto mode implementations 2019-03-16 13:26:08 +09:00
Peter Barker
fb5532356a Rover: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay
99dd588f28 Rover: version to 3.6.0-dev 2019-03-15 21:18:51 +09:00
Randy Mackay
f61f93ecf3 Rover: minor simplification to guided-within-auto 2019-03-15 21:18:48 +09:00
Randy Mackay
28ac2c2600 Rover: rename guided limits start_time_ms 2019-03-15 21:18:46 +09:00
Randy Mackay
95d68b0cf5 Rover: reached_destination becomes const 2019-03-15 14:51:35 +09:00
Randy Mackay
3f8adb4e7d Rover: guided-within-auto target moved to structure 
also guided's limit_breached made const
also guided limit check uses is_positive
 2019-03-15 14:51:35 +09:00
Randy Mackay
89f0418c0f Rover: support do-guided-limits mission command 2019-03-15 14:51:35 +09:00
Randy Mackay
721c200bcc Rover: support guided-within-auto 
also adds support for sending position targets to offboard controller which is assumed to return velocity commands
 2019-03-15 14:51:35 +09:00
Peter Barker
144f4e08b8 APMrover2: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker
5bd0db4117 Rover: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
a17dbbe856 Rover: remove redundant PreArm: in check_failed calls 2019-03-08 08:57:53 +09:00
Peter Barker
a38092e220 Rover: move checking of fence up 2019-03-08 08:57:27 +09:00
Peter Barker
ee15be3bb3 Rover: fix multi-motors prearm check 2019-03-06 10:11:58 +09:00
Peter Barker
1debd88083 Rover: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Michael du Breuil
1420ac868d APMRover2: Allow scripting to run 2019-03-05 08:45:54 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
36d755a48a Rover: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
IamPete1
4f9b8e1b6c Rover: add E-stop 2019-02-27 08:51:24 +09:00
Peter Barker
75af170900 Rover: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker
101ce74071 Rover: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker
a24de20f51 Rover: move update_sensor_flags to GCS_Rover.cpp 2019-02-20 11:57:00 +11:00
Peter Barker
323d6850d5 Rover: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
6331efcc12 Rover: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker
7d6140e029 Rover: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker
d1cada0e25 Rover: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Ebin
0f5041e873 Rover: added acro mode to MIS_DONE_BEHAVE 2019-02-16 13:55:17 +09:00
Ebin
85c3286c6e Rover: balance bots continue balancing when stopped 2019-02-16 13:55:11 +09:00
Ebin
e806d0c385 Rover: add param to offset balancing point for balance bots 2019-02-16 13:54:50 +09:00
Peter Barker
76910f9283 Rover: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Peter Barker
88575bd536 Rover: magically set home when toggling first waypoint in 
Currently the first toggle will put home in rather than the first
waypoint
 2019-02-16 11:23:00 +09:00
Peter Barker
dbdf17d6c6 Rover: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker
1977123362 Rover: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
a722fd1323 Rover: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
277f3799a5 Rover: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Randy Mackay
2ba6aa7e8a Rover: guided heading-and-speed control fix 
This removes the lane-based-speed-control from guided mode's heading-and-speed controller which does not use the navigation controller
 2019-02-13 20:11:27 +09:00
Peter Barker
6fcdfbbe32 Rover: attempt to set home position regardless of GPS lock 
The AHRS may be supplying as a home position through mechanisms other
than a GPS lock.  Don't assume in the caller to update_home().

Rover: fold update_home_from_EKF back into sole caller

This method is confusingly similarly named to update_home - and they do
pretty much the opposite thing.

Rover: remove incorrect and misleading comments on set_home_to_current_location

Rover: rewrite update_home to not set home if no origin set

Also checks that home is set before using values from it

Rover: zero stack variables when updating home

If these are a problem we have significant problems through the code
 2019-02-13 09:42:26 +11:00
Peter Barker
4cdbcab723 Rover: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker
dab23b817c Rover: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
9105284a7d Rover: remove rc out initialisation wrappers 2019-02-12 08:21:30 +09:00
Peter Barker
9496ffea14 Rover: enable gripper support 2019-02-09 11:02:22 +09:00
Peter Barker
8244158969 Rover: move handling of fence point handling up 2019-02-08 11:47:59 +09:00
Peter Barker
ded3ab99bb Rover: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up 2019-02-08 11:47:59 +09:00
Randy Mackay
d50a94aacf Rover: minor comment fix to set-position-target handling 2019-02-08 09:28:23 +09:00
Randy Mackay
90fc2be79d Rover: 3.5.0 release notes 2019-02-06 15:53:14 +09:00
Tom Pittenger
d5c67e0b07 Rover: move wheelEncoder logging to library 2019-02-06 10:41:59 +09:00
Randy Mackay
9067e1099f Rover: fix LOIT_TYPE param description 2019-02-06 09:03:35 +09:00
Tom Pittenger
12f66acfb7 Rover: remove wheel_encoder_rpm 2019-02-05 08:32:37 -08:00
jmachuca77
692281b273 Rover: adding AP_RPM 2019-02-05 08:32:37 -08:00
Peter Barker
76fe58a3bd Rover: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker
7ea223eac6 Rover: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Randy Mackay
6cebd634cd Rover: avoid divide-by-zero in desired-speed-final calcs 
The previous check using is_zero would not catch divide-by-zero cases in which the turn angle was very small but not quite zero
 2019-02-01 06:10:42 -08:00