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1799 Commits

Author SHA1 Message Date
Peter Barker 12853f8912 Rover: correct compilation for transitive include fail 2018-05-29 14:42:02 +10:00
Peter Barker c99cc465e6 Rover: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 829d18874e Rover: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker 9d83ee8cc7 Rover: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Randy Mackay 70cef2f61e Rover: report set-attitude-target capability 
rover accepts the set-attitude-target mavlink messages
 2018-05-25 10:40:49 +09:00
Ammarf b95ac72d35 Rover: add LOITER to ch7 options 2018-05-24 17:59:45 +09:00
Randy Mackay e1d80e547d Rover: proximity sensor sets laser unhealthy when no data 
previously it would set laser to unhealthy if proximity sensor wasn't present which interfered with a single downward facing range finder
 2018-05-24 12:46:38 +09:00
Randy Mackay 60b9f6f9c0 Rover: report laser as healthy even if not used for avoidance 
this allows downward facing lidar to be used on boats
 2018-05-24 12:46:38 +09:00
Randy Mackay 51a0cbc1da Rover: loiter slows using attitude control get_desired_speed_accel_limit 2018-05-24 11:06:20 +09:00
Randy Mackay fc35e74821 Rover: pass dt to attitude controller 2018-05-24 11:06:20 +09:00
Randy Mackay 444e64a3d0 Rover: slow before pivot turns 2018-05-24 11:06:20 +09:00
Peter Barker 8101f2b573 Rover: move sending of simstate up 2018-05-23 18:36:50 +10:00
Randy Mackay 24dd9a1c2c Rover: update GPS at 50hz 2018-05-23 17:17:29 +09:00
Randy Mackay cc53b9c39d Rover: update current_loc in update_ahrs 
this ensures the current_loc is updated before any of the flight mode code runs
 2018-05-23 17:17:29 +09:00
Ammarf d7821635c0 Rover: seperate acceleration/deceleration limits 2018-05-23 17:17:29 +09:00
Peter Barker e377debf25 Rover: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker 3f4783fa5d Rover: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker 90124c20cb Rover: shorten time remaining in try_send_message 
The scheduler table entry for retrying defered messages doesn't allow
enough time for try_send_messages to run.

This change makes the time-remaining requirement the same as Plane.
 2018-05-21 18:16:56 +09:00
Ammarf 2d64a47f90 Rover: add pivot_turn_rate to g2 2018-05-21 09:48:43 +09:00
Peter Barker 1ecd371cd0 Rover: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker 0e8f01021d Rover: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker 3799a13bc3 Rover: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker c9d47c4ed5 Rover: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker ace48d72b0 Rover: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker a37c8eae1f Rover: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker 0d3051e46a Rover: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker a52f3d8f70 Rover: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil dcb0a37643 Rover: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil dc5fae9ea6 Rover: Support rangefinder MAVLink changes 2018-05-16 23:21:41 +01:00
Randy Mackay fb4dcc2458 Rover: 3.3.1-rc2 release notes 2018-05-12 17:57:09 +09:00
Peter Barker 3afe591368 Rover: correct compilation when logging is disabled 2018-05-10 17:55:13 +09:00
Randy Mackay 3d1c078a44 Rover: steering mode uses turn rate control when stopped 2018-05-10 08:02:13 +09:00
Randy Mackay 0a29e4eac5 Rover: fix calc-steering-to-waypoint go use real heading without reverse 2018-05-10 08:02:13 +09:00
Randy Mackay 3645e18243 Rover: acro and steering use get_pilot_desired_steering_and_speed 2018-05-10 08:02:13 +09:00
Randy Mackay 957458ca56 Rover: add get_pilot_desired_steering_and_speed 
Also fix reversed steering response where throttle or acceleration limiting leads to throttle output being in the opposite direction from pilot's throttle input
 2018-05-10 08:02:13 +09:00
Randy Mackay ef2223a712 Rover: integrate attitude control change to steering output and scaling 
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
Randy Mackay 0830e057e0 Rover: manual mode outputs unscaled steering 2018-05-10 08:02:13 +09:00
Randy Mackay 6b6c0f04b6 Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise 2018-05-10 08:02:13 +09:00
Randy Mackay a061203eaf Rover: pass ground speed to motors lib for scaling of steering 2018-05-10 08:02:13 +09:00
Randy Mackay d018a9334e AP_MotorsUGV: add get_slew_limited_throttle 
required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
 2018-05-10 08:02:13 +09:00
Randy Mackay 3db2cc700e AP_MotorsUGV: positive steering always rotates vehicle right 
also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
 2018-05-10 08:02:13 +09:00
Randy Mackay 8137001a86 AP_MotorsUGV: minor comment fix 2018-05-10 08:02:13 +09:00
Peter Barker b38d23d542 Rover: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker a692acad81 Rover: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker a78fe0896f Rover: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Randy Mackay 468fc26e31 Rover: version to 3.4.0-dev 2018-05-09 13:32:50 +09:00
Randy Mackay ef23672a76 Rover: 3.3.1-rc1 release notes fix 
the pivot turn change was removed just prior to release
 2018-05-09 13:11:29 +09:00
Randy Mackay 3860141da8 Rover: 3.3.1-rc1 release notes 2018-05-09 12:55:08 +09:00
Ammarf de4e74b910 Rover: added comments to output_omni 2018-05-09 12:50:45 +09:00
Ammarf aca2c596b4 Rover: Use output_throttle for omni rover motor output 2018-05-09 12:50:45 +09:00
Ammarf d7e01d83d6 Rover: added is_omni_rover function 2018-05-09 12:50:45 +09:00
Randy Mackay 40a8e0de09 Rover: default BRD_SAFETYOPTION to to allow disarming with safety switch 2018-05-09 08:02:21 +10:00
Peter Barker 121cfc5b4c Rover: AP_RSSI is included for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker 9e1811027d APMrover2: move try_send_message handling of RC_CHANNELS_RAW up 2018-05-08 12:33:32 +01:00
Peter Barker 1bc208584f Rover: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker 25c2efb3ae Rover: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Randy Mackay 8108931ee0 Rover: 3.3.0 release notes 2018-05-07 17:35:50 +09:00
Andrew Tridgell a575608110 Rover: fixed build warnings 2018-05-07 11:43:23 +10:00
Randy Mackay c6638f66de Rover: Loiter mode for boats 2018-05-06 16:58:00 +09:00
Randy Mackay 341d75e0c9 AP_MotorsUGV: force throttle to zero when disarmed 2018-05-06 16:58:00 +09:00
Randy Mackay c69f7bb1d0 AP_MotorsUGV: consolidate parameter sanity checks 2018-05-06 16:58:00 +09:00
Randy Mackay c4804e4576 Rover: remove redundant avoidance call from steering 2018-05-06 16:58:00 +09:00
Peter Barker 0b1091231c Rover: remove rcmap member from AP_AdvancedFailsafe 
Also correct constructor for barometer

Also make it compile again
 2018-05-05 18:06:31 +09:00
Randy Mackay feb9cfc390 Rover: reduce TURN_MAX_G default to 0.6 2018-04-26 14:17:04 +09:00
Andrew Tridgell c941d72ad1 Rover: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil da9053655b Rover: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
Randy Mackay 8119c537c7 Rover: integrate vectored thrust support 2018-04-24 19:57:19 +09:00
Randy Mackay 38b79cf0bc AP_MotorsUGV: support vectored thrust 
steering scaled down as throttle increases
 2018-04-24 19:57:19 +09:00
Randy Mackay 29e8866ea9 Rover: move avoidance into calc_throttle 
also enable avoidance for steering and guided modes
 2018-04-24 12:24:53 +09:00
night-ghost 2aee8d1018 APMrover2: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay 8fa1700d02 Rover: 3.3.0-rc1 release notes 2018-04-19 17:20:38 +09:00
Randy Mackay 87eef9051f Rover: increase default pivot turn angle to 60deg 
pivoting at only 30degrees of error could lead to endless twitching back and forth for poorly tuned rovers
 2018-04-19 16:32:48 +09:00
Peter Barker d66cb1dda0 Rover: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker e73a02343a Rover: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Daniel Widmann 572d9ba43b Rover: Allow switching to ACRO mode for skid steer rovers without GPS 2018-04-13 09:12:03 +09:00
Daniel Widmann e782ce2b51 Rover: Allow ACRO mode for skid steer rovers without GPS 2018-04-13 09:12:03 +09:00
Peter Barker 63e8fffbe4 Rover: Baro does its own dataflash logging now 2018-04-12 19:12:12 +01:00
Michael du Breuil 05173f24c6 Rover: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Michael du Breuil 3bad3b2e68 Rover: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay da619e8aa6 Rover: 3.2.3 release notes 2018-04-09 09:04:30 +09:00
Andrew Tridgell 4f6240ee8a Rover: handle oneshot125 separately 2018-04-07 09:10:29 +10:00
Andrew Tridgell 4350cee7cf Rover: added mask to set_output_mode() 2018-04-07 09:10:29 +10:00
Randy Mackay f7a168478d Rover: integrate attitude control's get_steering_out_heading 2018-04-05 12:14:59 +09:00
Randy Mackay e8070a5cb3 Rover: pass waypoint radius to L1 as min dist along track 2018-04-05 12:14:59 +09:00
Randy Mackay 41bd79a387 Rover: pivot-turn uses heading controller 2018-04-05 12:14:59 +09:00
Peter Barker e74d07ff15 Rover: remove wrapper for Log_Write_Beacon 2018-04-04 16:20:33 +09:00
Francisco Ferreira b2af1f1e05
Rover: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker a45e3cba15 Rover: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Randy Mackay c05d239069 Rover: remove throttle scaling dependency on throttle range 2018-04-03 10:42:39 +09:00
Randy Mackay fa20fd695f Rover: use throttle_min param as output deadzone 2018-04-03 10:42:39 +09:00
Randy Mackay b9e32d1f44 Rover: reduce expected times in scheduler table 2018-04-03 08:40:31 +09:00
Peter Barker c10f404b12 Rover: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker b407a4eed8 Rover: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker 762b31b147 Rover: create a preflight calibration function 
Some functionality has moved up.
 2018-04-02 23:25:05 +01:00
Peter Barker db7ce9aba2 Rover: use ahrs singleton for SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay 39bade1f4a Rover: 3.2.3-rc2 release notes 2018-04-02 12:01:45 +09:00
Randy Mackay c923158cc9 Rover: 3.2.3-rc1 release notes 2018-04-02 11:11:13 +09:00
nicknunno 8888adbfd4 Rover: TURN_MAX_G param desc update for range and increment 2018-04-02 09:13:25 +09:00
Michael du Breuil b761a57da3 Rover: Support new battery interface 2018-03-27 22:12:21 +01:00
Peter Barker 57ed822db0 Rover: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Peter Barker 3c58eca0ab Rover: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Randy Mackay 96ae9cef14 Rover: send correct mav-type for boats 2018-03-22 09:11:52 +09:00
Randy Mackay 489551c9a4 Rover: 3.2.2 release notes 2018-03-19 19:11:53 +09:00
Peter Barker bb7bed0614 Rover: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker 7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker 9d0da4a71f Rover: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker ceb64fb7d9 Rover: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay 30ba463f42 Rover: minor comment fix to acro 
non-functional change
 2018-03-15 09:58:24 +09:00
Randy Mackay 00353c7a06 Rover: avoid divide by zero in desired speed at waypoint calcs 2018-03-14 12:40:04 +09:00
Randy Mackay 86c39c0314 Rover: run update_mission at 50hz 2018-03-14 12:40:04 +09:00
Randy Mackay 343d119726 Rover: wp nav uses stopping point or prev wp for origin 2018-03-14 12:40:04 +09:00
Randy Mackay 073d9519ca Rover: version to ArduRover V3.3.0-dev 2018-03-12 16:11:37 +09:00
Randy Mackay e3f70119fe Rover: fix two-paddle input decoding 
steering output was twice what it should be.  full steering (i.e. 4500 or -4500) should occur when one paddle is up and the other is completely down
 2018-03-12 14:39:13 +09:00
Peter Barker 81ba037582 Rover: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 1f772c05f4 Rover: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Randy Mackay dcfe104163 Rover: reduce CRUISE_SPEED default to 2m/s 
based on user logs most rovers max speed is less than 4m/s so this default is closer to the average
 2018-03-09 13:19:21 +09:00
Randy Mackay 1baa6eb049 Rover: 3.2.2-rc1 release notes 2018-03-08 16:24:03 +09:00
Randy Mackay 4e8399ca3f Rover: acro and steering steer even with target speed of zero 2018-03-08 14:45:43 +09:00
Peter Barker 78ecf55fec Rover: use AP::ahrs() for GCS_MAVLink 2018-03-07 12:34:39 +00:00
night-ghost bab54ea647 Rover: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
Andrew Tridgell f190ca0867 Rover: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker 90d26a5100 Rover: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell 80c45a7431 Rover: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker 7b6bc4adf1 Rover: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker 55c27dfc56 Rover: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker b2e2b91d7e Rover: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker d9bb546048 Rover: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker 211e7416a9 Rover: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker 9511e72113 Rover: use PerfInfo for performance monitoring 2018-02-13 17:15:05 +11:00
Randy Mackay 24b8ed48b6 Rover: global-pos-int uses vel from EKF instead of GPS 2018-02-13 08:52:48 +09:00
Randy Mackay f47e65822f Rover: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Peter Barker df304c5e6b Rover: remove shims used in scheduler table 2018-02-12 15:39:26 +09:00
Peter Barker 89c830e949 Rover: make SmartRTL mode decide whether to save position or not 
This changes things to work like the Copter equivalent
 2018-02-12 15:39:26 +09:00
Andrew Tridgell 65308f9411 Rover: removed compass learn_offsets() 2018-02-08 17:36:33 +11:00
Randy Mackay 0da8ff6b2e Rover: boats always navigate when outside waypoint radius 2018-02-07 07:33:11 +09:00
Michael du Breuil 2e9e91b3a3 Rover: Move battery logging to AP_BattMonitor 2018-02-06 00:11:32 +00:00
murata e94bfc7ee0 Rover: delete \n from the log using gcs().send_text 2018-02-02 09:38:36 +09:00
Randy Mackay 0626d105ed Rover: version 3.2.1-dev fix 2018-01-29 19:37:46 +09:00
Randy Mackay b459e7fa7f Rover: 3.2.1 release notes 2018-01-29 19:35:46 +09:00
Randy Mackay a6ff2cacdd Rover: 3.2.1-rc1 release notes 2018-01-24 12:09:54 +09:00
Randy Mackay a5d7b8bb19 Rover: remove unused definition 2018-01-23 15:52:39 +09:00
Randy Mackay 2748d4d0fe Rover: arming checks for GPS use requires_position and velocity 2018-01-23 11:27:56 +09:00
Randy Mackay 9cba1e2907 Rover: gps check replaced by requires-position, requires-velocity 
requires_gps is replaced by requires_position and requires_velocity
enter_gps_checks method is removed and enter method directly checks ekf flags and ekf origin
 2018-01-23 11:27:56 +09:00
Randy Mackay 509c7e2a8f Rover: add object avoidance to steering and acro modes 2018-01-22 17:18:41 +09:00
Randy Mackay 2320bfb637 Rover: add AC_AttitudeControl to build 
This is required only because the static function sqrt_controller is within this library.
 2018-01-22 17:18:41 +09:00
Randy Mackay 489c42bdff Rover: add avoidance library 2018-01-22 17:18:41 +09:00
khancyr 5503a0069d Rover: add proximity library 2018-01-22 17:18:41 +09:00
khancyr c3fb985ec5 Rover: add fence support 2018-01-22 17:18:41 +09:00
Dylan Herman c14af79975 Rover: now sends SCALED_PRESSURE msg 2018-01-22 10:04:57 +09:00
Dylan Herman 9d7eb188d1 Rover: enter Hold on failure to enter RTL fs action 2018-01-19 09:26:45 +09:00
Dylan Herman f3b794f698 Rover: Add SmartRTL failsafe action 
Add failsafe actions SmartRTL or RTL and SmartRTL or Hold
 2018-01-19 09:26:45 +09:00
Randy Mackay 6ce9b47807 Rover: calc_speed_nudge honours max speed even in reverse 
calc_speed_nudge allows the pilot to increase the speed of the vehicle including cases when the vehicle is in reverse.  This fixes the nudging code so the pilot-nudged throttle does not surpass the vehicle's maximum speed even in reverse.
Thanks to  pavloblindnology for finding this!
 2018-01-19 09:23:33 +09:00
Dylan Herman 3edaff0309 Rover: sets SmartRTL home after ahrs home is set 
Now uses AP_SmartRTL::set_home. It is called when arming and when GCS
requests home to be set to the current location
 2018-01-17 11:03:56 +09:00
Randy Mackay ed452c6a27 Rover: version to 3.2.1-dev 
this helps us easily determine if developer versions are from before or after the 3.2 release
 2018-01-13 17:53:18 +09:00
Randy Mackay a3b667ea24 Rover: 3.2.0 release notes 2018-01-13 15:28:58 +09:00
Randy Mackay e2824be250 Rover: add const and comments to calc_speed_max 2018-01-12 08:15:34 +09:00
Randy Mackay 5cd500847b Rover: rename auto_throttle to allows_arming_from_transmitter 
This method is only used to determine whether we can arm from the transmitter so better to make its purpose more clear
Also minor comment fix to is_autopilot_mode method
 2018-01-12 08:15:34 +09:00
Randy Mackay 5167ec7708 Rover: send PID to GCS regardless of mode 
Also add some comments
 2018-01-12 08:15:34 +09:00
Randy Mackay 5a5be9175d Rover: 3.2.0-rc4 release notes 2018-01-05 14:02:01 +09:00
Randy Mackay 072b5187a3 Rover: steering mode reversing fix 2018-01-05 10:23:20 +09:00
Randy Mackay 916fe80000 Rover: remove mode class's desired-lat-accel 
This was a duplicate of the value held in the attitude controller
 2018-01-05 09:27:53 +09:00
Randy Mackay 49493fe6a2 Rover: add calc_steering_to_heading 
removes some duplicate code in Guided and Auto
 2018-01-05 09:27:53 +09:00
Randy Mackay dc283e9c26 Rover: re-order calc_steering declarations to match .cpp file 2018-01-04 14:07:55 +09:00
Peter Barker 1d3e7d454a Rover: correct gps-is-healthy mode change check 2017-12-28 15:35:19 +00:00
Peter Barker 7cf2712bf1 Rover: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Randy Mackay 457c39bf1b Rover: FS_ param values changed to camel case 
Also minor comment change in crash-check failsafe
 2017-12-23 13:53:34 +09:00
Randy Mackay 241456f55f Rover: remove auto trim at startup 
Also add additional checks to auto trim
 2017-12-15 20:26:40 +09:00
Randy Mackay 6459a4de9d Rover: gyro health check uses initialised flag 
We should not be relying on the notify flags as a way to pass info around the system.  Rover's initialised flag is equivalent and more appropriate.
 2017-12-15 20:26:40 +09:00
Randy Mackay a8da459baf Rover: GPS reported healthy to GCS even without lock 
a GPS is unhealthy when it cannot be contacted.  Not having a 3D lock should not make the GPS unhealthy.
 2017-12-15 20:26:40 +09:00
Peter Barker bce9a40ab5 Rover: remove unimplemented methods 2017-12-15 13:27:14 +09:00
Andrew Tridgell 482ae876fb Rover: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Randy Mackay f6f40afcda Rover: rename control_mode_from_num to mode_from_mode_num 2017-12-12 10:39:26 +09:00
Randy Mackay c17549c7ff AP_Arming: integrate pre arm check if regular and skid steering configured 2017-12-11 11:56:12 +09:00
Randy Mackay ebe3ec88a7 AP_MotorsUGV: pre arm check if regular and skid steering configured 2017-12-11 11:56:12 +09:00
Randy Mackay 5d7e3d31c9 Rover: PM log message more consistent with Plane 2017-12-09 16:23:16 +09:00
Randy Mackay 4958298a75 Rover: fix auto mode distance_to_destination 2017-12-09 12:52:35 +09:00
Randy Mackay de196f818d Rover: log STER dataflash message regardless of mode 
It is useful to at least have the pilot's steering in request even in manual modes
 2017-12-09 12:18:49 +09:00
Randy Mackay 5f62cde550 Rover: remove throttle from NTUN logging 
Throttle is more extensively logged in the THR message
 2017-12-09 12:18:49 +09:00
Randy Mackay 9710b16cac Rover: THR dataflash logging replaces CTUN 2017-12-09 12:18:49 +09:00
Randy Mackay efae648461 Rover: STR dataflash logging gets turn rate 
also get turn rate and lat accel from attitude controller
 2017-12-09 12:18:49 +09:00
Randy Mackay 8e80490098 Rover: reporting gets lat accel from attitude control 2017-12-09 12:18:49 +09:00
Randy Mackay b778546eda Rover: rename mode lateral acceleration and make private 2017-12-09 12:18:49 +09:00
Randy Mackay df81f666df Rover: fix LOG_BITMASK parameter description 2017-12-09 12:18:49 +09:00
Randy Mackay 34c2fba9a7 Rover: boats stay active at destination in guided, rtl, smartrtl 2017-12-08 08:48:05 +09:00
Randy Mackay 8eb991b610 Rover: boats say active at destination in auto 
previously the user would use the LOITER_UNLIMITED or LOITER_TIME mission commands to specify that the vehicle should remain active at the destination.  This was cumbersome and not the best way to specify this behaviour because these two commands are valid for regular rovers that should not try to remain active at the destination.
 2017-12-08 08:48:05 +09:00
Randy Mackay aa38239629 Rover: add FRAME_CLASS to differentiate boats from rovers 2017-12-08 08:48:05 +09:00
Randy Mackay 57067fb8bc Rover: add WP_SPEED and RTL_SPEED 
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
Randy Mackay 22ef276484 Rover: add const to mode::speed_error 2017-12-07 07:29:10 +09:00
Randy Mackay 8f08f5189a Rover: constify some temporary variables 2017-12-07 07:29:10 +09:00
Randy Mackay 5dabb37834 Rover: 3.2.0-rc3 release notes 2017-12-05 20:57:27 +09:00
Randy Mackay bccdb4e195 Rover: hold mode does not require GPS 
If armed without GPS, the user was unable to enter hold mode
 2017-12-05 20:26:38 +09:00
Randy Mackay 97e87e2150 AP_MotorsUGV: skid steering always uses full range 
Allows skid friction to be removed
 2017-12-05 20:26:35 +09:00
Randy Mackay 988e4290dd Rover: formatting and comments for set-position-target handling 2017-12-05 12:15:33 +09:00
Randy Mackay 1d92ec5724 Rover: set-position-target message processing only checks xy fields 2017-12-05 12:15:31 +09:00
khancyr 9299943347 Rover: adjust setpoint_velocity handling 2017-12-05 12:14:46 +09:00
Randy Mackay 87658e6a07 AP_MotorsUGV: add MOT_THST_EXPO to scale output to motors 2017-12-04 09:53:06 +09:00
Randy Mackay bee8741b60 AP_MotorsUGV: order methods in cpp file to match h 
non-functional change
 2017-12-04 09:53:06 +09:00
Randy Mackay 865fb91676 Rover: add rpm to WENC dataflash logging 2017-12-04 09:53:06 +09:00
Peter Barker 1d2ec9054b Rover: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Randy Mackay 0c6afac5c6 Rover: allow mode to be set from ch7 switch 2017-12-01 21:59:55 +09:00
Randy Mackay ed558dd9a0 Rover: play sad tune when arming fails 2017-12-01 21:59:55 +09:00
Randy Mackay b4a779aec3 Rover: add arm/disarm to ch7 switch 2017-12-01 21:59:55 +09:00
Randy Mackay 8eb58b266a Rover: remove unused failsafe_throttle_suppress method 2017-12-01 21:59:55 +09:00
Randy Mackay 8043c0f638 Rover: reduce arming delay to 2 sec 2017-12-01 21:59:55 +09:00
Peter Barker e38cefea8a Rover: add SmartRTL mode 
called at 3hz from scheduler
 2017-12-01 09:28:56 +09:00
Randy Mackay 86ce3f2b32 Rover: add SmartRTL library to build 2017-12-01 09:28:56 +09:00
Randy Mackay 9f94875228 Rover: mode class gets set_desired_location_NED 2017-12-01 09:28:56 +09:00
Randy Mackay 6d472376bb AP_MotorsUGV: do not limit just because of saturation 
steering and throttle limit flags should only be set when there is no point in the caller passing in higher values because it will not result in an increased response.  In the case of saturation, higher inputs will still result in a higher response.
 2017-11-30 20:13:11 +09:00
Peter Barker 5612292802 Rover: allow vehicle to be armed in manual with no GPS 2017-11-30 15:41:50 +09:00
Peter Barker 1a59b38204 Rover: use throttle rather than steering to determine target speed 2017-11-30 15:37:40 +09:00
Peter Barker 68800a52f5 Rover: move RC failsafe check up 
Both steering and acro modes can benefit from this check
 2017-11-29 17:35:44 +09:00
Randy Mackay 69dc68d621 Rover: re-order acro mode to add early return 
non-functional change
 2017-11-29 14:03:43 +09:00
Randy Mackay 060f1d36dd Rover: allow aux switch to record waypoints when not in auto-mode 
this reduces the changes required when adding new modes
 2017-11-29 14:03:43 +09:00
Peter Barker 45d76bdf25 Rover: add name4() to Mode and use it for AP_Notify calls 2017-11-29 14:03:43 +09:00
Randy Mackay 04e9228fa0 Rover: add Acro mode 
ACRO_TURN_RATE allows user control of maximum turn rate
 2017-11-29 14:03:43 +09:00
Randy Mackay 5b7cd31221 Rover: send steering PID tuning to GCS in most modes 
Using manual_steering and auto_throttle is not perfectly correct because we will send steering rate PID info in HOLD mode but will not send throttle PID info in Steering mode
 2017-11-29 09:38:53 +09:00
Randy Mackay 26f50f6055 Rover: PILOT_STEER_TYPE replaces SKID_STEER_IN 
new options allow controlling vehicle's heading while reversing
skid-steering vehicles rotate in opposite direction when backing up
 2017-11-29 09:38:53 +09:00
Randy Mackay c6689fd2e1 Rover: rename calc_nav_steer to calc_steering_from_lateral_acceleration 
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
Randy Mackay fa7c56a110 Rover: minor comment fix 2017-11-28 10:38:19 +09:00
Daniel Widmann 8f1857759f AP_MotorsUGV: allow larger MOT_SLEWRATE values 2017-11-28 09:12:18 +09:00
Randy Mackay 78275ec4a1 AP_MotorsUGV: throttle slew updates motor limit flags 
this ensure I-term build-up doesn't happen when the slew
causes the throttle to react slowly
 2017-11-28 09:12:18 +09:00
Andrew Tridgell 01c4e51d08 Rover: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Randy Mackay a7fd353f14 Rover: add comment to unused param enum entries 2017-11-27 20:40:35 +09:00
Randy Mackay 6d805b64b6 AP_MotorsUGV: remove access to enable/disable throttle slewing 2017-11-27 14:31:20 +09:00
Randy Mackay 23028a659b Rover: slew throttle in all modes 2017-11-27 14:31:20 +09:00
Randy Mackay 822c4b6dca Rover: remove set of slew for motor test 
The motor library test function does not attempt to implement slewing so setting this is not necessary
 2017-11-27 14:31:20 +09:00
Randy Mackay cab972a429 Rover: reduce TURN_MAX_G default to 1.0 
This is probably still slightly too high but closer than the previous 2.0
 2017-11-27 12:25:28 +09:00
Peter Barker 9272c10043 Rover: use short descriptions for mission item types 2017-11-27 10:28:24 +09:00
Randy Mackay b60cb536ab Rover: RTL within auto mode 2017-11-23 10:20:19 +09:00
Randy Mackay 14d9e932ab Rover: allow disarming from transmitter on skid-steering vehicles 2017-11-23 09:07:04 +09:00
Peter Barker bf6b3a72bc Rover: support for units on fields 2017-11-23 10:40:30 +11:00
khancyr 279a57dc10 APMrover2: fix servo_out to GCS message 2017-11-21 20:23:55 +09:00
khancyr 005002736b AP_MotorsUGV: fix MOT_SLEWRATE parameter description 2017-11-21 20:02:20 +09:00
Andrew Tridgell d57f307032 Rover: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Peter Barker c00a4f3bb2 Rover: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker baf82cec22 Rover: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
khancyr c08203de17 Rover: allow pivot turn in STEERING mode 2017-11-15 13:46:58 +09:00
André Kjellstrup aab22d7dad Rover: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Randy Mackay 7e2214c2be Rover: simplify logic for lateral-accel override during use-pivot-steering 
It was theoretically possible that the lateral-acceleration would not be overwritten if the yaw-error-cd was exactly zero
 2017-11-08 17:15:59 +09:00
khancyr 2b0645d6a1 Rover: get_throttle_out calls do not require skid-steering arg 2017-11-08 15:45:43 +09:00
Daniel Widmann bc7cf97b4e Rover: don't use GPS speed to detect reversing 
instead pass reverse to attitude controller based on desired speed
 2017-11-08 14:37:59 +09:00
Daniel Widmann ac7e76cc43 Rover: enable pivot turns in auto mode 2017-11-08 14:35:00 +09:00
Pierre Kancir 4d38eb85a1 APMRover2: Add support of MANUAL_CONTROL msg 2017-10-31 09:31:05 +09:00
Randy Mackay 7fb4f17ad9 Rover: 3.2.0-rc2 release notes 2017-10-28 15:16:11 +09:00
Peter Barker 2d0a23fcc8 Rover: call ins's periodic function 2017-10-27 16:33:45 +11:00
khancyr 74d5767e25 Rover: Fix slew rate range 2017-10-26 19:44:43 +09:00
Randy Mackay 2ef1e8e4c2 Rover: fix PID desired and achieved reporting 2017-10-26 19:44:18 +09:00
Randy Mackay ea70755f00 Rover: fix speed nudge 
fix bug when target speed was exactly zero which caused nudge to be a large negative value
 2017-10-26 19:44:07 +09:00
Randy Mackay fb9f695d2f Rover: fix use-pivot-steering 
absolute yaw error should be used
 2017-10-26 19:43:55 +09:00
Randy Mackay fb944322c7 Rover: minor fix to disarm logic 
check should use logical and instead of bitwise and
 2017-10-26 19:43:48 +09:00
Randy Mackay 2c568f8046 Rover: minor parameter description change 
non-functional change
 2017-10-26 19:43:42 +09:00
Randy Mackay 9f67d2a88d Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped 2017-10-26 19:43:36 +09:00
Tom Pittenger f7d07fc146 Rover: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Andrew Tridgell f25e8631ef Rover: support simple accelcal 2017-10-10 10:57:38 +11:00
Michael du Breuil 4f83d39b5e Rover: Report GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi e98ccb9ae6 ArduRover: use static method to construct controllers 2017-09-26 03:01:21 +01:00
Lucas De Marchi bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi 18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi 13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi 5ec1430726 APMrover2: use static method to construct AP_Arming_Rover 2017-09-26 03:01:21 +01:00
Lucas De Marchi b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi 53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi 62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi 91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi ad05e0a643 APMrover2: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi 27be369be7 APMrover2: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi 0c49b7a973 APMrover2: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Randy Mackay 3af5893f9e Rover: command-long DO_SET_HOME check first param is zero 2017-09-20 12:14:38 +09:00
Randy Mackay f7cb006d40 Rover: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay b1684b5377 Rover: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker b84e40a804 Rover: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
Randy Mackay 4899401679 Rover: minor comment fix 2017-09-19 10:30:15 +09:00
Randy Mackay de406da254 Rover: set home using EKF position 
previously the home position could be set from DCM
This makes the setting of home slower but more accurate
 2017-09-19 10:30:15 +09:00
Randy Mackay 894bf2a23f Rover: support SET_GPS_GLOBAL_ORIGIN message 2017-09-19 10:30:15 +09:00
Peter Barker add5eb6907 Rover: remove old DO_SET_MODE support 
We no longer support setting modes except via custom-modes
 2017-09-19 01:24:11 +01:00
Peter Barker 25a32c93f2 Rover: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Peter Barker b5d234aa64 Rover: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 640b2b7a13 Rover: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 85ac69f701 Rover: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker d98c427514 Rover: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
khancyr 2be28ddb1e Rover: fixup cpu failsafe 
remove copying of rc input to servo output
disarm after 2 seconds
 2017-08-26 13:13:18 +09:00
Randy Mackay d525c0bffb Rover: 3.2.0-rc1 release notes 2017-08-25 14:50:48 +09:00
Randy Mackay 78a5e4500f Rover: send GCS warning when cruise learning fails to start 
Also const-ified some variables, added some brackets and comments
 2017-08-25 14:05:23 +09:00
Randy Mackay 1600823b12 Rover: aux switch to learn cruise throttle and speed 2017-08-25 14:05:23 +09:00
Randy Mackay 14c74a5967 Rover: remove learning mode 
saving waypoints can be done in manual or steering mode
 2017-08-25 14:05:23 +09:00
Randy Mackay 524fe4cd82 Rover: aux switch saves waypoint in manual or steering modes 
Also refactor aux switch methods
rename LEARN_CH to AUX_CH
 2017-08-25 14:05:23 +09:00
Randy Mackay 3adfb0e77d Rover: replace int with uint8_t 
non-functional change
 2017-08-25 14:05:23 +09:00
Randy Mackay 82e61d7198 Rover: remove unused throttle_failsafe_active method 2017-08-25 14:05:23 +09:00
khancyr 4ab11027a7 Rover: remove unused mavlink_delay(uint32_t ms) 2017-08-24 20:41:16 +09:00
khancyr 4c977f16ce Rover: reduce ADC warm up time 2017-08-24 20:41:16 +09:00
khancyr 2f1cc5ddfc Rover: support brushed motor on normal rover 2017-08-24 20:09:47 +09:00
khancyr 25b1307400 Rover: solve servo reverse in brushed configuration 2017-08-24 20:05:27 +09:00
Peter Barker 4fc31cf80d Rover: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Randy Mackay 7a37a7f921 Rover: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay 3f1271214e Rover: rename MotorsUGV pwm type to brush-with-relay 2017-08-22 10:09:13 +09:00
khancyr 46e6057493 Rover: solve servo reverse in brushed configuration 2017-08-22 10:09:10 +09:00
Peter Barker ee39ec3751 Rover: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker 92becb2875 Rover: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Randy Mackay bbb1329116 Rover: remove unused definitions 2017-08-17 11:58:07 +09:00
khancyr 2ceb29e9da Rover: use abs for int within calc_speed_nudge 
same issue resoled for log-write-nav-tuning
 2017-08-17 09:46:56 +09:00
khancyr ed19db7188 Rover: set_mode arg name to match implementation 
definition and implementation used different argument name
 2017-08-17 09:46:19 +09:00
khancyr a035950a22 Rover: minor format fix 2017-08-17 09:45:49 +09:00
khancyr 58b643c458 Rover: replace divide with multiply in calc_throttle 
non functional change
 2017-08-17 09:45:21 +09:00
Randy Mackay 6eceaef484 Rover: remove redundant SYS_NUM_RESETS 
this is handled by AP_Stats library
 2017-08-17 09:39:40 +09:00
Randy Mackay e2d4182c75 Rover: fix parameter conversion 2017-08-17 09:39:40 +09:00
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 c0fe1b7ec8 AP_MotorsUGV: minor comment fix 2017-08-17 09:39:40 +09:00
Randy Mackay c8eceeabb6 AP_MotorsUGV: add THR_MIN, THR_MAX parameters 2017-08-17 09:39:40 +09:00
Randy Mackay c61f965828 AP_MotorsUGV: re-order implementation to match declaration 
non-functional change
 2017-08-17 09:39:40 +09:00
Peter Barker f3a0d2b02b Rover: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Grant Morphett 2463bfd2ec Rover: fix SITL Make build on Windows 
PE linker can't remove unused methods so we add the necessary libraries
 2017-08-15 21:51:13 +01:00
Peter Barker 4c2747bfe8 Rover: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Michael du Breuil a98c8427dd Rover: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Randy Mackay 348dbdaf22 Rover: fix do-nav-wp comment 2017-08-15 20:47:19 +09:00
Randy Mackay 57b2b02509 Rover: remove out-of-date comment 2017-08-15 20:47:19 +09:00
Randy Mackay 492fe40f93 Rover: re-organise private member declarations 
declarations are grouped by file (which are in turn organised alphabetically) and in the order they appear within each file
non-functional change
 2017-08-15 20:47:19 +09:00
Randy Mackay 6c7db05207 Rover: re-organise includes 
non-functional change
 2017-08-15 20:47:19 +09:00
Randy Mackay 06a7e46447 Rover: remove PID from build 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 0b917cfd36 Rover: mode auto guided and rtl slow before destination 
new mode class member _desired_speed_final holds target speed at destination

main vehicle code passes heading to next waypoint into auto mode.
we do not provide heading when delaying at waypoint which signals we wish

auto-mode calculates final speed at destination which allows vehicle to
make turn within value of WP_OVERSHOOT parameter assuming vehicle turns at
maximum lateral acceleration.
 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 9097269d6d Rover: use AR_AttitudeControl for steering control 2017-08-15 20:47:19 +09:00
Randy Mackay c56d8cb6b1 Rover: add AC_PID and AR_AttitudeControl to build 2017-08-15 20:47:19 +09:00
Randy Mackay a5783939ef AP_MotorsUGV: add limit flags 
These flags become true when the steering servo or motors hit their
limits.  used to stop I-term build-up in higher level controllers.
 2017-08-15 20:47:19 +09:00
Peter Barker fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Randy Mackay 59a1f260d1 Rover: remove unused compat.h 2017-08-12 14:46:46 +09:00
Randy Mackay b895da64e1 Rover: minor comment fix to parameters list 2017-08-12 14:46:19 +09:00
Randy Mackay e79e92a789 Rover: remove unused SPEED_TURN_DIST parameter 2017-08-12 13:58:35 +09:00
Randy Mackay 28d74722bd AP_MotorsUGV: minor formatting fix 2017-08-12 13:34:27 +09:00
Randy Mackay bff74115bc Rover: remove unused distance_past_wp 2017-08-12 13:05:01 +09:00
Randy Mackay a00c7e0acb Rover: mode calc_reduced_speed_for_turn gets some const for local variables 2017-08-12 12:29:13 +09:00
Randy Mackay 66bb3e8ee0 Rover: minor formatting fix to parameters.cpp 2017-08-12 12:14:54 +09:00
Peter Barker edab526b01 Rover: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker f7fd663f45 Rover: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker 89a5272ab5 Rover: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker 341a9ae032 Rover: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker ece800ba90 Rover: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Peter Barker c642dc616a Rover: use new retry_deferred method 2017-08-05 23:14:18 +01:00
khancyr 6b429bd372 Rover: remove redundant GPS check before camera update 
this same check is included within AP_Camera
 2017-08-05 17:05:19 +09:00
khancyr 7c3374668e Rover: formatting fixes and const local variables 2017-08-05 17:05:00 +09:00
khancyr 848df551ac Rover: formatting and comment fixes to mode class 2017-08-05 17:02:52 +09:00
Randy Mackay efc790a84a Rover: add comment to mode 2017-08-05 11:20:58 +09:00
Randy Mackay 30852d4713 Rover: auto-reversed moved to mode 2017-08-05 11:20:58 +09:00
Randy Mackay 4f5e82f406 Rover: mode fixes for reversing 2017-08-05 11:20:58 +09:00
Randy Mackay 66f1437e4f Rover: remove unused throttle variable 2017-08-05 11:20:58 +09:00
Randy Mackay 1e8e3609c6 Rover: remove duplicate setting of ground_speed 
update_ahrs already does this using a slightly different method, having both likely leads to small twitches in ground speed at 10hz
 2017-08-05 11:20:58 +09:00
Randy Mackay e88b1572b6 Rover: remove navigate 2017-08-05 11:20:58 +09:00
Randy Mackay fe6465b748 Rover: remove next_WP, wp_distance, navigate 
Also remove prev_WP, wp_totalDistance which are all handled within mode class
 2017-08-05 11:20:58 +09:00
Randy Mackay b4af441eb9 Rover: remove unused update_navigation 2017-08-05 11:20:58 +09:00
Randy Mackay 2640ec9ed9 Rover: rename update_commands to update_mission 2017-08-05 11:20:58 +09:00
Randy Mackay 56b0621994 Rover: verify_RTL calls rtl mode 
also remove unused rtl_complete
 2017-08-05 11:20:58 +09:00
Randy Mackay 1b19ee865d Rover: remove active-loiter and set-auto-wp 
these are now handled by auto mode
 2017-08-05 11:20:58 +09:00
Randy Mackay 974453607e Rover: replace do-yaw with nav-set-yaw-speed 2017-08-05 11:20:58 +09:00
Randy Mackay 27e833ebd1 Rover: verify_within_distance gets distance directly from auto mode 2017-08-05 11:20:58 +09:00
Randy Mackay 3863542194 Rover: adjust set-position-target-local-ned handling 
add support for just yaw or yaw-rate
remove support for simultaneous position and velocity
 2017-08-05 11:20:58 +09:00
Randy Mackay 46faece76b Rover: set-attitude-target accepts quaternions for target heading 2017-08-05 11:20:58 +09:00
Randy Mackay d56d222971 Rover: set-attitude-target consumes thrust in -1 to +1 range 
This makes the processing consistent with the mavlink spec
 2017-08-05 11:20:58 +09:00
Randy Mackay b9db9229d9 Rover: replace vehicle code guided methods with calls to guided mode class 
set_guided_WP replaced by mode_guided.set_desired_location
nav_set_yaw_speed replaced with mode_guided.set_desired_heading_and_speed
set_guided_velocity replaced with mode_guided.set_desired_turn_rate_and_speed
guided_control structure replaced with mode_guided members
use_pivot_steering accepts yaw-error argument instead of calculating it itself internally
 2017-08-05 11:20:58 +09:00
Randy Mackay 783f8243df Rover: use mode class's get_distance_to_destination and speed_error 
used for reporting to GCS and logging
 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
Randy Mackay 946a0a8e54 Rover: guided mode refactoring 
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
Randy Mackay 279491ed20 Rover: auto mode refactoring 
updating mission is handled by the vehicle code
slows down for turns
add active at destination
remove setting of loiter start time
removes unused calc_nav_steer
 2017-08-05 11:20:58 +09:00
Randy Mackay 2accb5831d Rover: mode refactoring 
add ahrs reference
add set-desired-location method
move _reached_destination member in from child
calc_lateral_acceleration args renamed and added comemnts
calc_lateral_acceleration updates _yaw_error_cd
remove calc_lateral_acceleration method with no arguments
calc_throttle updates _speed_error and becomes protected
remove unused variables from calc_throttle
calc_reduced_speed_for_turn_or_distance reworked
do not use rover throttle or rtl_complete
calc_nav_steer comment updates
remove unused update_navigation
 2017-08-05 11:20:58 +09:00
Peter Barker 137d513fdc Rover: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker dbac7447d6 Rover: move try_send_message send_hwstatus up 2017-08-03 14:34:33 +01:00
Peter Barker 4da89a948a Rover: move try_send_message mission handling up 2017-08-03 14:33:37 +01:00
Peter Barker dbdfce570a Rover: move try_send_message compass message handling up 2017-08-03 14:24:47 +01:00
Peter Barker d44c7f0886 Rover: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
khancyr 23532bf45c Rover: add reason to set_mode 2017-07-31 18:01:17 +09:00
Peter Barker 2014eb0def Rover: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker 81d52c282c Rover: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay 96d55e0dbe Rover: fix wheel encoder parameter names 
extra underscore removed
 2017-07-27 21:57:17 +09:00
Peter Barker 160831d4ca Rover: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Randy Mackay ddc70058d5 Rover: reporting wheel encoder rpm 2017-07-27 16:52:29 +09:00
Randy Mackay ae487aa99b Rover: update wheel encoder at 20hz 2017-07-27 16:52:29 +09:00
Randy Mackay 72d35593d8 Rover: send wheel encoder data to EKF 2017-07-27 16:52:28 +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 fec152385c Rover: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00