9 Commits

Author	SHA1	Message	Date
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	4f5e82f406	Rover: mode fixes for reversing	2017-08-05 11:20:58 +09:00
Randy Mackay	f71db5ae05	Rover: rtl mode refactoring ... slow down for turns	2017-08-05 11:20:58 +09:00
khancyr	23532bf45c	Rover: add reason to set_mode	2017-07-31 18:01:17 +09:00
Randy Mackay	88b2f62e2f	Rover: mode rtl loses duplicate calls to calc_lateral_acceleration ... Also no need to call calc_nav_steer no need to set throttle before entering hold	2017-07-21 10:13:20 +09:00
Randy Mackay	4fe937b985	Rover: do_RTL calls set_mode(RTL) ... This reverses the caller so the vehicle code calls into the mode instead of the mode calling up into the vehicle code	2017-07-21 10:13:20 +09:00
khancyr	b9644c4ec7	Rover: disable slew limit by default on mode	2017-07-21 10:13:20 +09:00
Peter Barker	2a9b1017b6	Rover: add control modes class	2017-07-21 10:13:20 +09:00