ef2223a712
Rover: integrate attitude control change to steering output and scaling
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steering output is always positive for clockwise
steering is scaled in motors library meaning we do not need to tell attitude controller about skid-steering or vectored-thrust
2018-05-10 08:02:13 +09:00
8119c537c7
Rover: integrate vectored thrust support
2018-04-24 19:57:19 +09:00
29e8866ea9
Rover: move avoidance into calc_throttle
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also enable avoidance for steering and guided modes
2018-04-24 12:24:53 +09:00
0da8ff6b2e
Rover: boats always navigate when outside waypoint radius
2018-02-07 07:33:11 +09:00
916fe80000
Rover: remove mode class's desired-lat-accel
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This was a duplicate of the value held in the attitude controller
2018-01-05 09:27:53 +09:00
49493fe6a2
Rover: add calc_steering_to_heading
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removes some duplicate code in Guided and Auto
2018-01-05 09:27:53 +09:00
b778546eda
Rover: rename mode lateral acceleration and make private
2017-12-09 12:18:49 +09:00
34c2fba9a7
Rover: boats stay active at destination in guided, rtl, smartrtl
2017-12-08 08:48:05 +09:00
57067fb8bc
Rover: add WP_SPEED and RTL_SPEED
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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
c6689fd2e1
Rover: rename calc_nav_steer to calc_steering_from_lateral_acceleration
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rename calc_lateral_acceleration to calc_steering_to_waypoint
calc_steering_to_waypoint internally calls calc_steering_from_lateral_acceleration
non-functional change
2017-11-28 11:46:21 +09:00
23028a659b
Rover: slew throttle in all modes
2017-11-27 14:31:20 +09:00
bc7cf97b4e
Rover: don't use GPS speed to detect reversing
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instead pass reverse to attitude controller based on desired speed
2017-11-08 14:37:59 +09:00
95c5ada3e9
Rover: modes use stop_vehicle to stop gently
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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
d99108f3bc
Rover: use AR_AttitudeControl for throttle control
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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
9097269d6d
Rover: use AR_AttitudeControl for steering control
2017-08-15 20:47:19 +09:00
848df551ac
Rover: formatting and comment fixes to mode class
2017-08-05 17:02:52 +09:00
4f5e82f406
Rover: mode fixes for reversing
2017-08-05 11:20:58 +09:00
946a0a8e54
Rover: guided mode refactoring
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add set-desired methods
add get_distance_to_destination
fix to one interation with no update to motors
slow down for turns
2017-08-05 11:20:58 +09:00
ded1bad6c3
Rover: remove duplicate calls from update_navigation()
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calc_lateral_acceleration() and calc_nav_steer() aren't need here
2017-07-21 10:13:20 +09:00
b9644c4ec7
Rover: disable slew limit by default on mode
2017-07-21 10:13:20 +09:00
2a9b1017b6
Rover: add control modes class
2017-07-21 10:13:20 +09:00
Randy Mackay
Daniel Widmann
khancyr
Peter Barker