Commit Graph

10 Commits

Author SHA1 Message Date
Randy Mackay c9927e6af6 Rover: bug fix to steering mode top speed
Also non-functional change to calc_throttle to make call to calc_speed_nudge consistent
2017-08-17 09:39:40 +09:00
Randy Mackay 167a856cdb Rover: remove THR_MIN, THR_MAX parameters from vehicle
enforcing these limits is now handled by AP_MotorsUGV class
2017-08-17 09:39:40 +09:00
Randy Mackay 57b2b02509 Rover: remove out-of-date comment 2017-08-15 20:47:19 +09:00
Randy Mackay 95c5ada3e9 Rover: modes use stop_vehicle to stop gently
modes slow to a stop instead of immediately setting motors to zero
vehicle centers steering when stopping
2017-08-15 20:47:19 +09:00
Randy Mackay d99108f3bc Rover: use AR_AttitudeControl for throttle control
also direct throttle nudge replaced with speed nudge
calc_speed_max estimates vehicle's top speed based on cruise-speed and
cruise-throttle
steering mode now provides total target speed instead of using speed plug
throttle nudge
motor limits provided to attitude control to stop i-term buildup
uses negative desired speed instead of reversed flag
reporting to GCS uses new throttle controller
braking is simply enabled and allows a reverse motor output regardless of vehicle
speed
2017-08-15 20:47:19 +09:00
Randy Mackay 61d1ced7aa Rover: add turn radius param for steering mode
removes reliance on old steerController
2017-08-15 20:47:19 +09:00
Randy Mackay 4f5e82f406 Rover: mode fixes for reversing 2017-08-05 11:20:58 +09:00
Randy Mackay 3d13d98410 Rover: steering mode direction fix when reversing
this corrects the rotation direction when moving backwards in steering mode so that it's consistent with manual mode
2017-07-26 10:57:45 +09:00
Randy Mackay f9186de0ca Rover: steering mode formatting change
no functional change
2017-07-26 10:57:45 +09:00
Peter Barker 2a9b1017b6 Rover: add control modes class 2017-07-21 10:13:20 +09:00