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115 Commits

Author SHA1 Message Date
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
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
Peter Barker e38cefea8a Rover: add SmartRTL mode 
called at 3hz from scheduler
 2017-12-01 09:28:56 +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 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 fa7c56a110 Rover: minor comment fix 2017-11-28 10:38:19 +09:00
Randy Mackay a7fd353f14 Rover: add comment to unused param enum entries 2017-11-27 20:40:35 +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 6eceaef484 Rover: remove redundant SYS_NUM_RESETS 
this is handled by AP_Stats library
 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 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
Peter Barker fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +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
khancyr 40b860e240 Rover: rename sonar to rangefinder 2017-07-14 17:40:05 +01:00
Randy Mackay ebbbe0584a Rover: integrate wheel encoder 2017-07-14 07:27:26 +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
Eugene Shamaev b6c397c85a APMrover2: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Pierre Kancir c865972e9c Rover: remove skid_steer_out parameter 2017-06-24 13:17:36 +09:00
Randy Mackay 0da6e73d76 Rover: add support for visual odometry 2017-06-14 09:12:20 +09:00
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 c41e695c98 APMRover2: correct some style 2017-04-26 08:43:09 +10:00
Pierre Kancir 99ba8bdc08 APMRover2: add advance failsafe 2017-01-31 17:12:37 +11:00
Andrew Tridgell 93d6b012c2 Rover: convert to new SRV_Channel API 2017-01-12 17:39:37 +11:00
Pierre Kancir 0f89f6918e Rover: Parameters.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
priseborough 2facebff80 Rover: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Pierre Kancir dec954bb0c Rover: added crash check 2016-12-07 12:46:02 +11:00
Pierre Kancir 326e0f224f Rover: added SYSID_ENFORCE parameter 2016-11-24 09:34:48 +11:00
Peter Barker 36c0bacada Rover: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Peter Barker cfee3b6c0e Rover: add support for ParametersG2 2016-10-29 14:53:25 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell fd0f31dc44 Rover: added AP_Button support 2016-07-22 15:01:21 +10:00
Andrew Tridgell bb9783e3f4 Rover: moved EKF2 to a new parameter index 
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
 2016-05-25 19:35:17 +10:00
Lucas De Marchi dd8014dd2f APMrover2: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Andrew Tridgell bd272390bc Rover: support up to 14 input channels on all boards 2016-01-04 08:23:04 +11:00
pepevalbe b4c02d8cd7 Rover: added group parameter for AP_Notify library 2015-12-31 11:33:11 +09:00
Peter Barker 5d46a9add0 Rover: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Grant Morphett 3636b53313 Rover: Implementation of the ARMING functionality 2015-11-11 13:39:38 +11:00
Lucas De Marchi 45ba94343d APMrover2: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Andrew Tridgell 5cac948ed0 Rover: added EK2_ parameters and EKF2 instance 2015-09-23 11:56:27 +10:00
Randy Mackay bcc87a9a3b Rover: replace SKIP_GYRO_CAL with INS_GYR_CAL 
Also calibrate gyros during accel trim
 2015-09-21 17:06:45 +09:00
Stewart Loving-Gibbard a315b980bf Rover: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Gustavo Jose de Sousa 01e05ce743 APMrover2: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00