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1011 Commits

Author SHA1 Message Date
Michael du Breuil a077eac6a9 Rover: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
khancyr 40b860e240 Rover: rename sonar to rangefinder 2017-07-14 17:40:05 +01:00
Peter Barker 2717244dd8 Rover: move rally-point handling up 2017-07-14 01:28:05 +01:00
Randy Mackay 5fc30c763e Rover: move Log_GuidedTarget declaration 
No functional change
 2017-07-14 07:27:26 +09:00
Randy Mackay ebbbe0584a Rover: integrate wheel encoder 2017-07-14 07:27:26 +09:00
Randy Mackay f6a1c53ff6 Rover: add AP_WheelEncoder to build 2017-07-14 07:27:26 +09:00
Peter Barker adb89c5ca6 Rover: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker 7aff4c6ab9 Rover: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay 208607d668 Rover: remove output_trim_all during initialisation 
MotorUGV library now outputs the proper values on the motor channels.  Other libraries are also responsible for initialising their outputs on startup.
 2017-07-12 14:24:16 +09:00
Peter Barker aeed1f0ff4 Rover: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker 901045b029 Rover: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
Peter Barker 2692ee22d3 Rover: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 130ad52a22 Rover: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
khancyr b28656eb11 Rover: reoder rc and servo init 2017-07-10 19:48:35 +09:00
Randy Mackay 774e484869 Rover: remove servo channel failsafe from vehicle code 
This is now handled by the MotorsUGV library
 2017-07-10 10:37:14 +09:00
Randy Mackay 6464bfb601 MotorsUGV: set failsafe output 
This informs the I/O board to stop sending pwm if the I/O board loses
contact with the main CPU
 2017-07-10 10:37:12 +09:00
Peter Barker 9509f7f1bf Rover: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 7ad003a211 APMrover2: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay 03d04c934e Rover: improve skid-steer input processing 
limit the steering input
reverse commanded steering value if reversing to be consistent with separate steering-throttle frames
 2017-07-08 16:07:13 +09:00
khancyr f8a564f283 Rover: rename BRUSHEDPLUS to BRUSHEDBIPOLAR 2017-07-08 16:07:13 +09:00
khancyr 8ab3e83a3c Rover: use float qualifier and functions 2017-07-08 16:07:13 +09:00
khancyr 1f0c985dec Rover: add setup_servo_output to allow ouput reconfiguration 2017-07-08 16:07:13 +09:00
Pierre Kancir 38dcc2eb12 Rover: minor formatting fix 2017-07-08 16:07:13 +09:00
Pierre Kancir ba8664193a Rover: fix failsafe throttle 2017-07-08 16:07:13 +09:00
khancyr 9b97ad0fc0 Rover: solve skid steer in value 2017-07-08 16:07:13 +09:00
Pierre Kancir f70a2b36ea Rover: integrate brushless motor support 2017-07-08 16:07:13 +09:00
Pierre Kancir 267a1532b9 Rover: integrate motors library 
move throttle_slew_limit and THR_SLEWRATE parameter
move have_skid_steering to library
move mix_skid_steering to library's output_skid_steering method
move radio.cpp's output channel initialisation to motor's init method
use motors.get_throttle and get_steering instead of getting from Servo objects
use motors.set_throttle and set_steering instead of setting to Servo object
AP_Arming::arming_required is replaced with SAFE_DISARM parameter
 2017-07-08 16:07:13 +09:00
Pierre Kancir 29c59644b7 AP_MotorsUGV: add BrushedPlus motor type 
BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
 2017-07-08 16:07:13 +09:00
Pierre Kancir 76c9d3982a AP_MotorsUGV: motors lib for Rover 2017-07-08 16:07:13 +09:00
Randy Mackay 1fb6d45d5f Rover: version to 3.2.0-dev 2017-07-08 12:24:57 +09:00
Peter Barker cfeb449979 Rover: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev b6c397c85a APMrover2: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay 1fc85e9a8c Rover: adjust skid steer motor mixing, fix rotation direction in reverse 
balanced prioritisation of throttle vs steering when motors become saturated
direction of turning made consistent with normal (ie non-skid-steered) vehicles

Also includes fixes to motor mixing after peer review
 2017-07-01 19:48:01 +09:00
Randy Mackay f036b1f92c Rover: pivot steering stays active until within 10deg of target heading 
Previously the vehicle would pop out of pivot-steering once it was within PIVOT_TURN_ANGLE degrees of the target heading.  This meant that it would give up on the pivot steer long before it was actually pointing at the target.
 2017-07-01 19:48:01 +09:00
Peter Barker 4646eb3b95 Rover: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker dcad79bdef Rover: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker 8697faa44f Rover: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Randy Mackay 351b37fc31 Rover: only report system status after init has completed 
This reduces errors reported to the GCS during startup
 2017-06-28 11:32:01 +09:00
Georgii Staroselskii eed08fb8cd Rover: cork and push servo outputs 
SRV_Channels API makes it easy to sync all PWM channels at once. This is
the support needed for it to work properly on Rovers.
 2017-06-27 11:46:41 -07:00
Peter Barker 3a85d8ed39 Rover: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 689a5cb238 Rover: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Pierre Kancir c865972e9c Rover: remove skid_steer_out parameter 2017-06-24 13:17:36 +09:00
Pierre Kancir 0017485ee7 Rover: move failsafe_trigger from system to failsafe 2017-06-24 13:17:35 +09:00
Pierre Kancir 9abb1f634f Rover: add comments to Steering 2017-06-24 13:17:33 +09:00
Pierre Kancir 031ed4bbb0 Rover: Remove old skid steering 2017-06-24 13:17:33 +09:00
Pierre Kancir 41e18f089e Rover: remove g.skid_steer_out in favor of have_skid_steering() 2017-06-24 13:17:32 +09:00
Pierre Kancir 1dcf90c161 Rover: use scaled input in Manual modes 2017-06-24 13:17:26 +09:00
Pierre Kancir ee28e49790 Rover: steering mark floats as float and fix parenthesis 2017-06-24 13:17:10 +09:00
Pierre Kancir 97595f98ac Rover: add comments to scheduler 2017-06-24 13:17:05 +09:00
Pierre Kancir ef2c2e4afc Rover: add some comments in radio 2017-06-24 13:16:59 +09:00