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1704 Commits

Author SHA1 Message Date
Michael du Breuil
a40295c3b6 Rover: Make capability init consistent 2018-11-05 14:04:36 +11:00
Randy Mackay
380884e175 Rover: shorten radio/throttle failsafe to 0.2 sec min 2018-11-02 10:31:37 +09:00
Randy Mackay
2408538bdf Rover: failsafe clears rc-overrides 2018-11-02 10:31:37 +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
ed8feda5b9 Rover: shorten failsafe timeouts 
radio failsafes may trigger within 1sec (previously was 2 seconds)
default failsafe set to 1.5sec (was 5sec)
also minor improvement to FS_TIMEOUT parameter description
 2018-11-02 10:31:37 +09:00
Randy Mackay
fa5de31cb9 Rover: rename control_failsafe to radio_failsafe_check 
although this makes the name inconsistent with plane it is more precise because control can also come from rc-overrides which are covered by the GCS failsafe
 2018-11-02 10:31:37 +09:00
Randy Mackay
69e5a4b262 Rover: sailboat tack triggered by any switch movement 2018-11-01 18:04:19 +09:00
Randy Mackay
2db6b7c7cb Rover: move sailboat vars into struct 
also fix airspeed library's parameter description
also log NaN when we do not have wind direction or speed estimates
also send timeout message to GCS when taking takes too long
 2018-11-01 18:04:19 +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
Peter Barker
42b196a9a6 Rover: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker
0eff11eebe Rover: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker
6cbcfb5d61 Rover: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Randy Mackay
b64bdcdfda Rover: remove proximity check from arming checks 
it is OK for rovers to be armed very close to objects especially when they are beside the rover
 2018-10-26 14:38:04 +09:00
Andrew Tridgell
7ae90237e3 Rover: use set_flying to allow for compass learning to run 2018-10-24 07:25:42 +10:00
Peter Barker
50cb391dea Rover: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Randy Mackay
3e7cd5a721 Rover: fix typo on call to AP_WindVane 2018-10-07 15:46:57 +09:00
Raouf
fc5ce7b273 Rover: send obstacle_distance messages to proximity lib 2018-10-02 10:37:13 +09:00
Randy Mackay
925d4035a4 Rover: fix loiter comment 2018-09-28 10:40:12 +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
Randy Mackay
4a5b56c929 Rover: windvane update called from scheduler at 20hz 2018-09-28 10:40:12 +09:00
Randy Mackay
7163839117 AP_MotorsUGV: remove arg from output_mainsail 
no need to pass in argument which is always a local variable
 2018-09-28 10:40:12 +09:00
IamPete1
4366bae96d Rover: add sailboat support 2018-09-28 10:40:12 +09:00
IamPete1
100c494127 Rover: add loiter radius parameter 2018-09-28 10:40:12 +09:00
IamPete1
e3d5db8db5 Rover: add AP_WindVane to build 2018-09-28 10:40:12 +09:00
Randy Mackay
a59b83af9a AP_MotorsUGV: add mainsail to servo test 2018-09-28 10:40:12 +09:00
IamPete1
fa0fc5eade AP_MotorsUGV: add mailsail support for sailboats 2018-09-28 10:40:12 +09:00
Randy Mackay
0665ac5229 Rover: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
b1a4cd55fd Rover: support disabling rudder arming 2018-09-11 19:34:39 +10:00
Randy Mackay
9c13324b87 Rover: update simple call to calc_steering_to_heading 2018-09-11 16:43:17 +09:00
Randy Mackay
14fc117cd4 Rover: simple mode calcs clarified and const added 2018-09-11 16:43:17 +09:00
Randy Mackay
efdd3946fc Rover: simple mode fixes 2018-09-11 16:43:17 +09:00
Ammarf
6ba5942ece Rover: add simple mode 2018-09-11 16:43:17 +09:00
Randy Mackay
743de16c07 Rover: fix calls to calc_steering_to_heading 
reversed flag was being passed into the wrong argument
 2018-09-11 14:39:50 +09:00
Randy Mackay
cd64ce45ac Rover: fix calc_steering_to_heading rate_max handling 
units mix up led to deg/s parameter value being applies as rad/s
 2018-09-11 14:39:50 +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
Ammarf
0f10d2316a Rover: fix OmniX motor order 2018-08-31 08:38:17 +09:00
Randy Mackay
03e0437c19 Rover: fix RTL when AP_RALLY disabled 2018-08-30 10:33:37 +09:00
Randy Mackay
dd3163b065 Rover: rename AC_RALLY to AP_RALLY 2018-08-30 10:00:56 +09:00
Randy Mackay
587addbdfa Rover: remove unused TURN_GAIN definition 2018-08-30 09:55:07 +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
Thorsten Panitz
ee8d5d77d0 Rover: Activation of OSD 
Rover: Activation of OSD
 2018-08-30 08:19:02 +10:00
Randy Mackay
88a230e897 Rover: DPTH message only written if range finder last read time changed 2018-08-28 09:23:38 +09:00
Randy Mackay
19d943106b Rover: pass vehicle speed to attitude control pitch control 2018-08-27 16:44:33 +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
db611e074c Rover: include wheel-rate-control 2018-08-27 16:44:33 +09:00
Randy Mackay
85ac24d96e Rover: update wheel encoders at 50hz 2018-08-27 16:44:33 +09:00
Randy Mackay
69541fc89c AP_MotorsUGV: use wheel-rate-control for skid steering vehicles 2018-08-27 16:44:33 +09:00
Randy Mackay
a5e28f0729 Rover: balancebot_pitch_control method removes unused armed arg 
Also remove constraint on throttle output (this is handle in the AP_MotorsUGV library
Also move balance bot declarations to alphabetical order within Rover.h
 2018-08-27 16:44:33 +09:00
Randy Mackay
961aab7425 Rover: balance bot passes motor limits to pitch control 2018-08-27 16:44:33 +09:00
Randy Mackay
9ae9f84498 Rover: fix G_Dt when SCHED_LOOP_RATE increased 
This fixes a bug in the G_Dt calculation which is used in the motors library and PID controllers.  The issue occurred in cases where the ahrs_update was not being run which could happen because it's estimated time was too long.
This also properly runs the critical functions (update ahrs, run flight mode code, send outputs to motors) at up to 400hz
 2018-08-25 17:50:15 +10:00
Randy Mackay
473e8d18a1 Rover: reduce scheduler estimated time for gcs tasks 2018-08-24 15:30:50 +09:00
Pierre Kancir
3ef910ff11 Rover: fix initial target when setting Guided 2018-08-22 21:02:40 +09:00
Randy Mackay
8b9b1fdb66 Rover: set reverse to false on entering a mode 2018-08-22 14:25:30 +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
Raouf
ea62c24cef Rover: Move set_reverse method to Mode class 2018-08-22 13:36:38 +09:00
Michael du Breuil
84baaea46d Rover: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Peter Barker
ca7842afac Rover: add support for Sprayer 2018-08-17 15:33:35 +09:00
Randy Mackay
011776bff2 Rover: restore param description for CH7_OPTION 2018-08-12 14:00:48 +09:00
Randy Mackay
b5f045dc5f Rover: mode description in lower case 
Follow was in upper case
INITIAL_MODE was missing SmartRTL
 2018-08-12 13:41:45 +09:00
Randy Mackay
c028aa8dad Rover: fix compiler warning in RC_Channel 2018-08-11 11:23:35 +09:00
Ammarf
d665abccde Rover: add output tests for omni frames 2018-08-08 17:07:50 +09:00
Raouf
f0185cb79b Rover: Add loiter behaviour parameter 2018-08-08 07:17:13 +09:00
Ammarf
8308646c5e Rover: change omniplus motor order 2018-08-08 07:15:37 +09:00
Ammarf
430ed9bd3d Rover: add custom config support 2018-08-07 10:01:32 +09:00
Peter Barker
2365cdf90a Rover: remove min-max-configured pre-arm checks 2018-08-07 09:45:09 +10:00
Randy Mackay
86634c2cca Rover: log desired pitch in ATT message 2018-08-06 11:30:22 +09:00
Randy Mackay
0722c6a265 Rover: minor format fix to GCS_MAVLink.cpp 2018-08-06 11:30:22 +09:00
Randy Mackay
e71dc9307e Rover: add Pitch to GCS_PID_MASK param description 2018-08-06 11:30:22 +09:00
Randy Mackay
e867ef74cc Rover: balance bots log pitch PID 2018-08-06 11:30:22 +09:00
Randy Mackay
936dca7531 Rover: remove compass accumulate 2018-08-06 11:05:34 +10:00
Andrew Tridgell
73ccf90087 Rover: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Lucas De Marchi
00f03360bc APMrover2: kill AP_FEATURE_SAFETY_BUTTON 
This is redundant and can be just HAL_HAVE_SAFETY_SWITCH.
 2018-08-02 13:15:02 -07:00
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
Peter Barker
e501ba203f Rover: rename control_modes.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Randy Mackay
fada9f1990 Rover: version to 3.5.0-dev 2018-08-01 20:23:24 +09:00
Peter Barker
1f0908bba2 Rover: move handling of RC Switches into RC_Channel 
Rover: use base-class auxsw handling

Rover: factor out do_aux_function_change_mode

Rover: move mode number enumeration to be in Mode:: namespace

Rover: move mode switch handling to RC_Channel

Rover: rename control_modes.cpp to RC_Channel.cpp

Rover: move motor_active() to be a method on the motors class
 2018-08-01 12:11:30 +09:00
Michael du Breuil
f4d2014b56 Rover: Update notify initilization 2018-08-01 09:22:09 +10:00
Randy Mackay
315a33ed10 Rover: 3.4.2 release notes 2018-07-30 14:37:55 +09:00
murata
c705d3d816 Rover: Modify indentation (NFC) 2018-07-30 08:17:53 +09:00
Ebin
6dcab4e87b Rover: support balance bot in AUTO mdoe 2018-07-28 08:44:18 +10:00
Randy Mackay
f7f4b43683 Rover: 3.4.2-rc1 release notes 2018-07-23 17:15:33 +09:00
Peter Barker
24ef1a61b3 Rover: remove old AP_Menu include 2018-07-23 14:20:22 +09:00
Randy Mackay
82aba6fe56 Rover: guided heading-and-speed control slows using yaw error 2018-07-18 15:11:09 +09:00
Randy Mackay
5dc4b8e66d Rover: guided mode slows to stopping point on init 2018-07-18 15:11:09 +09:00
Randy Mackay
77598f72d1 Rover: remove redundant set_steering calls from Guided 
steering is centered within the stop_vehicle method
 2018-07-18 15:11:09 +09:00
Randy Mackay
3b7e84ce7a Rover: calc_steering_to_heading updates yaw error 
this allow the vehicle's speed to be reduced based on the heading error
 2018-07-18 15:11:09 +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
Ammarf
c0082271e6 Rover: implement Follow mode 2018-07-18 15:11:09 +09:00
Michael du Breuil
84f891c5b1 Rover: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell
08da22c682 Rover: improved setup of output modes 2018-07-13 16:11:12 +09:00
Michael du Breuil
2b5aa9bc53 Rover: Remove usage of analogPinToDigitalPin 2018-07-11 23:09:52 -07:00
jeff567
200a644cfe Rover: fixes bug in rovers with pivot turning 2018-07-11 11:35:43 +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
efdc13d143 Rover: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
ca264b1932 Rover: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Andrew Tridgell
8f94302348 Rover: removed unused macros 2018-07-04 20:05:10 +01:00
Ebin
07fc5c8349 Rover: removed min speed crash check for balance bot 2018-07-04 16:34:52 +09:00
Randy Mackay
eb58399d8b Rover: 3.4.1 release notes 2018-07-04 11:37:52 +09:00
Peter Barker
b38b9dc07c Rover: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker
ea12f6caec Rover: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
e1408696dc Rover: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Randy Mackay
b9d8f53af2 Rover: correct object avoidance parameter descriptions 2018-06-29 14:56:33 +09:00
Ebin
96d4335765 Rover: Crash check based on angle for all rover frames 2018-06-28 21:55:20 +09:00
Ebin
04604ced33 Rover: BalanceBot.cpp renamed to balance_bot.cpp 2018-06-28 21:55:20 +09:00
Ebin
73e6ce18a0 Rover: Crash checks for Balance Bot 2018-06-28 21:55:20 +09:00
Ebin
2780d1715c Rover: balance bot pitch control added in all modes 2018-06-28 21:55:20 +09:00
Ebin
c65405541e Rover: balancing function call moved to manual mode update() 2018-06-28 21:55:20 +09:00
Ebin
6c2f18cc2f Rover: manual mode support for balancebot 2018-06-28 21:55:20 +09:00
Ebin
936ebbe1f3 Rover: Added BalanceBot as a rover frame 2018-06-28 21:55:20 +09:00
Michael du Breuil
b5bc9e5147 Rover: Remove unneeded battery failsafe flag clearing 2018-06-27 11:39:35 +10:00
Raouf
9d51e87762 Rover: Save compass offsets when disarmed and learning is on 2018-06-26 08:51:16 +09:00
Peter Barker
3f0a56a818 Rover: use arming check_failed function 2018-06-23 15:33:19 +10:00
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
Randy Mackay
03babfdc3c Rover: fix RNGFND_TURN_ANGL param description again 2018-06-18 17:51:46 +09:00
Randy Mackay
9efa7ad635 Rover: fix RNGFND_TURN_ANGL range 2018-06-18 16:06:45 +09:00
Randy Mackay
acfbce95a6 Rover: update NTUN logging 
reorder to allow easier comparing of adjacent fields
remove absolutes
rename fields
 2018-06-18 10:25:56 +09:00
Peter Barker
9b269b1b56 Rover: use AP_RTC 
Rover: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Randy Mackay
3ca520021b Rover: version to 3.4.2-dev 2018-06-12 20:57:25 +09:00
Randy Mackay
a566ad48e9 Rover: 3.4.1-rc1 release notes 2018-06-12 20:56:50 +09:00
Randy Mackay
c650c52577 Rover: 3.4.0 release notes 2018-06-12 18:20:11 +09:00
Randy Mackay
f0780c7bb1 AP_MotorsUGV: minor comment fix 2018-06-12 17:44:10 +09:00
Randy Mackay
1c0d9c7512 AP_MotorsUGV: MOT_SPD_SCA_BASE param for min speed scaling 
This replaces the hardcoded 1m/s start point for speed scaling with a configurable value
 2018-06-12 17:44:10 +09:00
Randy Mackay
5faff519c3 AP_MotorsUGV: steering limits and constraint done by each output handler 
each motor output handler (regular, skid, omni) becomes responsible for constraining the steering input (if required) and setting the limits flags
it is possible to reduce duplicate code but I think it might be more important to keep it clear which level is responsible for the limiting and constraining of steering
 2018-06-12 17:44:10 +09:00
Michael du Breuil
c85f8c7bf5 Rover: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Randy Mackay
b69155793f Rover: add Log_Write_Depth 2018-06-12 08:29:08 +09:00
Randy Mackay
d34c87a457 Rover: alphabetise Log_Write methods 2018-06-12 08:29:08 +09:00
Randy Mackay
c51b38cd1c Rover: rename Log_Arm_Disarm to Log_Write_Arm_Disarm 2018-06-12 08:29:08 +09:00
Randy Mackay
10d89f1315 Rover: remove unimplemented Log_Write_Performance declaration 2018-06-12 08:29:08 +09:00
Randy Mackay
631d8f5423 Rover: accept do-change-speed commands with high speeds 2018-06-11 09:10:35 +09:00
Randy Mackay
a08a955cbc Rover: accept DO_CHANGE_SPEED commands 2018-06-11 09:10:35 +09:00
Randy Mackay
8464e82812 Rover: set_desired_speed range checks speed 2018-06-11 09:10:35 +09:00
Randy Mackay
c8f4227313 Rover: remove SPEED_TURN_GAIN 
Loiter was the only mode using this, replaced with hardcoded gain.  The desired speed in Loiter also uses a hardcoded gain so this should work
 2018-06-08 09:19:25 +09:00
Randy Mackay
645edf1f57 Rover: wp_overshoot used to limit speed in Auto 
Limits desired speed to max possible given max lateral
acceleration and distance to line between waypoints
Replaces the use of SPEED_TURN_GAIN which scaled down speed
Also used in Guided, RTL, SmartRTL
 2018-06-08 09:19:25 +09:00
Peter Barker
cf1f2f9aeb Rover: move motors_active to be motors.active 
This will help when we come to subclass the Motors library.
 2018-06-08 08:51:18 +09:00
Peter Barker
65b7ca3fbb Rover: factor out a do_aux_function_change_mode 
Less code is good
 2018-06-08 08:50:08 +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
Michael du Breuil
0ad2750f55 Rover: Remove software type param 2018-06-05 09:14:12 +10:00