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191 Commits

Author SHA1 Message Date
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
khancyr 279a57dc10 APMrover2: fix servo_out to GCS message 2017-11-21 20:23:55 +09:00
Peter Barker baf82cec22 Rover: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
Pierre Kancir 4d38eb85a1 APMRover2: Add support of MANUAL_CONTROL msg 2017-10-31 09:31:05 +09:00
Randy Mackay 2ef1e8e4c2 Rover: fix PID desired and achieved reporting 2017-10-26 19:44:18 +09:00
Andrew Tridgell f25e8631ef Rover: support simple accelcal 2017-10-10 10:57:38 +11:00
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
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 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
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
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
Peter Barker f3a0d2b02b Rover: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
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 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 9097269d6d Rover: use AR_AttitudeControl for steering control 2017-08-15 20:47:19 +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
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
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
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
Peter Barker fec152385c Rover: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
Peter Barker 07f4603533 Rover: integrate mode class 2017-07-21 10:13:20 +09:00