khancyr
707b006f76
Rover: minor style correction on log
2017-07-21 10:13:20 +09:00
Randy Mackay
2321cefdc2
Rover: move manual mode failsafe handling to mode class
2017-07-21 10:13:20 +09:00
Randy Mackay
6626c2e12e
Rover: only mode manual directly copies rc input to motors
2017-07-21 10:13:20 +09:00
Randy Mackay
f17f56dea4
Rover: move throttle nudge to Mode class
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
khancyr
809a9e5894
Rover: auto mode fails to enter if no mission
...
This prevent going into Auto without a mission and skipping the first mission waypoint because we aren't yet in Auto when in enter()
2017-07-21 10:13:20 +09:00
Peter Barker
07f4603533
Rover: integrate mode class
2017-07-21 10:13:20 +09:00
Peter Barker
2a9b1017b6
Rover: add control modes class
2017-07-21 10:13:20 +09:00
Peter Barker
9173c7caaf
Rover: move starting of new logs into DataFlash
2017-07-19 16:37:28 +01:00
Peter Barker
c9c1f3ea29
Tracker: move starting of new logs into DataFlash
2017-07-19 16:37:28 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
efa59d47f2
Rover: fix FS_THR_VALUE min range
2017-07-19 20:33:07 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
916a2e8fca
Rover: Failsafe parameters default values macros are not used, so delete them
...
@OXINARF told me that they existed.
@tridge told me I should delete them, now that we have run-time parameters
2017-07-19 20:31:48 +09:00
Randy Mackay
285653da30
Rover: fix init order to clear compile warning
...
no functional change
2017-07-19 15:26:33 +09:00
Randy Mackay
55a1c9afdf
Rover: add advanced failsafe to make build
2017-07-19 15:24:19 +09:00
khancyr
918992eb10
Rover: remove unimplemented functions
2017-07-19 11:00:34 +09:00
Peter Barker
f1c3e16354
Rover: remove MSG_STATUSTEXT entirely
2017-07-18 16:12:59 +01:00
khancyr
2e451eb2bc
Rover: fix motor test for pilot passthrough of steering
2017-07-18 10:15:44 +09:00
Randy Mackay
b6033df457
Rover: intergrate motor test motor seq enum change
2017-07-18 10:15:44 +09:00
Randy Mackay
e5b746c7dd
AP_MotorsUGV: fix motor test sequence
...
motor test sequence starts from 1
2017-07-18 10:15:44 +09:00
Randy Mackay
8a86b64776
Rover: motor test accepts negative percentages
2017-07-18 10:15:44 +09:00
Randy Mackay
ebeb0923cb
Rover: motor test gets improved failure explanations
...
Also fix pass through for steering channel
2017-07-18 10:15:44 +09:00
khancyr
5208466629
Rover: add motor test
2017-07-18 10:15:44 +09:00
Randy Mackay
7bfb79a4b7
AP_MotorsUGV: add motor_output_test_pwm
...
this allows the ground station to test a motor by requesting a specific pwm value
2017-07-18 10:15:44 +09:00
khancyr
2cd3dd5cba
AP_MotorsUGV: add motor output test
2017-07-18 10:15:44 +09:00
khancyr
8421575f05
AP_MotorsUGV: add output_throttle to handle scaling and relay
...
this function hides the difference in scaling between the regular throttle
(-100 to +100) and the throttleLeft and throttleRight (-1000 to +1000)
Also handles the setting of the relay for brushed-with-relay motors
2017-07-18 10:15:44 +09:00
khancyr
8223743df8
Rover: add pre_arm_rc_checks
2017-07-18 10:15:44 +09:00
Peter Barker
cee7ce0571
Rover: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up
2017-07-17 14:17:19 +01:00
Peter Barker
3586f0e8fb
Rover: move handling of MAG_CAL command longs up
2017-07-17 14:17:19 +01:00
Peter Barker
a963a80b91
Rover: move MAV_CMD_START_RX_PAIR handling to base class
2017-07-17 14:17:19 +01:00
Peter Barker
7042d3e9c9
Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries
2017-07-17 00:06:31 +01:00
Peter Barker
bcf7c6e6b6
Rover: move mavlink support for servo/relay up
2017-07-16 23:56:00 +01:00
Peter Barker
40eb07f472
Rover: add common handling of mavlink command messages
2017-07-16 23:56:00 +01:00
Michael du Breuil
993df82cfa
APMRover: Fix bad parameter generation for AP_MotorUGV
2017-07-16 08:26:52 +10:00
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
Pierre Kancir
feb8c30af4
Rover: move rssi.init and set_control_channels
2017-06-24 13:16:54 +09:00
Pierre Kancir
7595ffb8ba
Rover: set correct safety limit
2017-06-24 13:16:48 +09:00
Pierre Kancir
32dc59baec
Rover: fix throttle slew limit for skid steer out
2017-06-24 13:16:40 +09:00
Andrew Tridgell
2e24c35906
Rover: setup default esc scaling
...
for rovers without a k_throttle channel we need a default ESC scaling
value
2017-06-21 10:30:39 +09:00
Andrew Tridgell
d060fd2826
Rover: replace get_output_norm*100 for throttle with get_output_scaled
...
No functional change
2017-06-21 10:30:39 +09:00
Andrew Tridgell
79f7cc5779
Rover: implement new style skid steering
...
use throttleLeft and throttleRight servo functions. This gives much
greater flexibility and control over motor trims and limits
2017-06-21 10:30:39 +09:00
Michael du Breuil
57c9afb77e
Rover: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing
2017-06-20 15:41:50 +01:00
Pierre Kancir
8a85b8be4c
APMRover2: correct usage of set_output_pwm
2017-06-20 15:58:33 +09:00
Peter Barker
900f0cc774
Rover: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up
2017-06-17 15:07:48 +01:00
Peter Barker
aeacc11573
APMrover2: stop using in_mavlink_delay as a proxy for disabling logging
2017-06-16 17:07:48 +01:00
Peter Barker
0df30d03b1
Rover: call dataflash should_log method
2017-06-16 17:07:48 +01:00
Peter Barker
8c074c7b73
Rover: simplify dataflash initialisation
2017-06-14 12:20:29 +01:00
Randy Mackay
a07920c5b2
Rover: add init_compass method
...
no functional change
2017-06-14 09:12:20 +09:00
Randy Mackay
eb2aa80fca
Rover: compass set-initial-location uses ahrs location
...
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
2017-06-14 09:12:20 +09:00
Randy Mackay
584974fd74
Rover: set home from ekf position
2017-06-14 09:12:20 +09:00
Randy Mackay
0da6e73d76
Rover: add support for visual odometry
2017-06-14 09:12:20 +09:00
Randy Mackay
b56e246da6
Rover: add visual odometry to build
2017-06-14 09:12:20 +09:00
Peter Barker
81b19204c3
Rover: StartUnstartedLogging replaces logging_started/start_logging
2017-06-11 20:34:12 +01:00
Peter Barker
c5d40fd8b4
Rover: simplify should_log (NFC)
2017-06-11 20:34:12 +01:00
Pierre Kancir
a26710d769
APMRover2: add support for DISTANCE_SENSOR
2017-06-08 01:31:57 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
981807fe9a
Rover: NFC SYS_NUM_RESETS is a read-only variable
2017-06-07 19:53:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
771d2fb13c
Rover: Be more explicit that a SPEED_TURN_GAIN value of 80% reduces "to 80%" and not "by 80%"
2017-06-06 11:34:52 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
c389dd93d7
Rover: NFC - correct the units of the RNGFND_TURN_ANGL parameter
2017-05-30 12:09:50 +09:00
Paulo Neves
74d67f8d05
Rover: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support.
2017-05-25 09:35:22 +09:00
Michael du Breuil
379a4fbfab
Rover: Ignore landing message
2017-05-24 15:22:27 -07:00
Grant Morphett
5ac1293a52
Rover: Make base_mode armed status depend upon the arming library, not
...
soft armed
This change brings it in line with Plane.
2017-05-23 14:51:22 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
aaa26af3f4
Rover: Fix constructor initialization order
2017-05-18 09:31:11 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
f004f4b499
Rover: Spell in comments
2017-05-18 09:29:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
a2472e6787
Rover: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
Andrew Tridgell
f08074c0d7
Rover: removed AP_Airspeed from vehicle code
2017-05-04 22:59:02 -07:00
Grant Morphett
192ffdcca8
Rover: Creating beta release 3.2.0 Beta2
2017-05-04 21:59:45 +10:00
Pierre Kancir
00204367fc
APMRover2: Reduce the home position reset when disarm
2017-05-04 21:57:45 +10:00
Pierre Kancir
f725e9f2b5
APMRover2: correct some style after addition of velocity controler
2017-05-04 19:53:21 +10:00
Pierre Kancir
ed26c103f9
APMRover2: prevent unless calculus when stoping
2017-05-04 19:53:21 +10:00
Pierre Kancir
670e7b7914
ROVER: put all guided param in one structure
2017-05-04 19:53:21 +10:00
Pierre Kancir
045d171ab9
Rover: add Guided velocity controller
2017-05-04 19:53:21 +10:00
Randy Mackay
c1d3384835
Rover: rename set_next_WP to set_auto_WP to clarify usage
2017-05-04 19:53:21 +10:00
Randy Mackay
d6b55b2d09
Rover: set_guided_WP accepts location
2017-05-04 19:53:21 +10:00
Peter Barker
74e0d6c60a
Rover: move init of DataFlash references into vehicle init
...
It is possible to start a log before the existing codepath is crossed.
2017-05-01 15:04:34 +01:00
Andrew Tridgell
37585f213a
Rover: use common send_queued_parameters()
2017-05-01 14:36:10 +10:00
Andrew Tridgell
c5d17a9d92
Rover: call BoardConfig.init_safety() at end of startup
...
this fixes a bug where motors can start on soft reboot
2017-04-30 21:47:04 +10:00
Pierre Kancir
27e52695fe
APMRover2: add initial support for MAV_CMD_CONDITION_YAW
2017-04-28 12:01:47 +10:00
Andrew Tridgell
b344bd1071
Rover: fixed duplicate include of AP_ADC library
2017-04-27 18:32:26 +10:00
karthik.desai
47ff9ddeec
Rover: Added Beacon implementation
...
Enabled beacon parameters
beacon updates at 50hz
Use dataflash library to log AP_Beacon msg
2017-04-26 11:59:11 +09:00
Pierre Kancir
7f861aafd0
APMRover2: make on spot turn in skid and manual use full motor range
2017-04-26 10:38:01 +10:00
Pierre Kancir
83bf1fdca5
APMrover2: remove useless variable
2017-04-26 08:43:09 +10:00
Pierre Kancir
f13425aa28
APMRover2: make crash_check define static const
2017-04-26 08:43:09 +10:00
Pierre Kancir
2eb0ed6242
APMRover2: Remove, correct some cast
2017-04-26 08:43:09 +10:00
Pierre Kancir
409e8b5f26
APMRover2: Remove unused config define
2017-04-26 08:43:09 +10:00
Pierre Kancir
91958fb96a
APMRover2: Remove unused config define
2017-04-26 08:43:09 +10:00
Pierre Kancir
20cc336885
APMRover2: const correctness
2017-04-26 08:43:09 +10:00
Pierre Kancir
c41e695c98
APMRover2: correct some style
2017-04-26 08:43:09 +10:00
Pierre Kancir
b634fe548d
APMRover2: Use c++ cast
2017-04-26 08:43:09 +10:00
Peter Barker
d0f2e7bf3a
Rover: log GPS detection state to DF on log startup
2017-04-23 21:04:17 +01:00
Andrew Tridgell
7cc1009dab
Rover: ignore MSG_AOA_SSA
2017-04-19 20:48:42 +10:00
Pierre Kancir
6d1586044c
APMRover2: unhide default CH_7_PWM_TRIGGER & make it static const
2017-04-15 13:48:40 +10:00
Pierre Kancir
d4bd61d859
APMRover2: unhide default NAVL1_PERIOD with a define
...
set the correct value to param
2017-04-15 13:48:40 +10:00
Michael du Breuil
7328a8ad41
Rover: Send BATTERY_STATUS
2017-04-12 10:21:49 +09:00
Michael du Breuil
7b2da01836
Rover: Update for L1 constructor
2017-04-06 08:26:04 +10:00
Grant Morphett
0f671394e5
Rover: Creating Rover 3.2.0 BETA 1.
2017-04-03 12:28:30 +10:00
Andrew Tridgell
9cbfc4ddd3
Rover: add available memory to PM message
2017-03-27 14:35:21 +09:00
Grant Morphett
8212841b68
Rover: Bringing the releases notes up to date.
2017-03-15 17:24:35 +11:00
Grant Morphett
cfb11729a6
Rover: Setting crash detecting to off by default.
2017-03-15 17:24:35 +11:00
Grant Morphett
304c9b6e72
Rover: Fixed a bug in reverse
...
If a user was driving in reverse and when into an auto mission the
rover would try to do the whole mission in reverse. This fixes that.
2017-03-15 17:24:35 +11:00
Grant Morphett
3410db5022
Rover: Fix motor_active check to checkout throttle output servo
2017-03-15 17:24:35 +11:00
Andrew Tridgell
3a7c541145
Rover: log home and origin on logging start
2017-03-14 10:51:15 +11:00
Pierre Kancir
1bd863e36b
ROVER: stop mission when leaving AUTO
2017-03-09 22:17:01 +11:00
