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73 Commits

Author SHA1 Message Date
Randy Mackay be1621877f Mission: support GUIDED_ENABLE and GUIDED_LIMITS 
This replaces the ardupilot only NAV_GUIDED command.
Also remove support for NAV_VELOCITY mission command which will be
replaced by SET_POSITION_TARGET non-mission command.
 2014-10-13 21:40:23 +09:00
Randy Mackay 5ca3c4baf6 Mission: fix CHANGE_ALT to store climb rate in lat param 
The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
 2014-09-26 23:23:04 +09:00
Randy Mackay 1ce8e453c2 Mission: add support for DO_GRIPPER 2014-09-17 21:14:17 +09:00
Andrew Tridgell effccacf46 AP_Mission: fixed acceptance radius outgoing 
this needs to match incoming
 2014-09-03 21:15:56 +10:00
Andrew Tridgell 3a5e960fe5 AP_Mission: revert APM_BUILD_TYPE change 2014-09-03 13:28:17 +10:00
Andrew Tridgell 36b854fa98 AP_Mission: fixed build for arduino IDE 2014-09-03 13:20:31 +10:00
Andrew Tridgell c4f84232e2 AP_Mission: make cmd.p1 be radius on plane for NAV_WAYPOINT 2014-09-03 12:38:30 +10:00
Randy Mackay d6aa868cac Mission: start next nav cmd immediately after prev completes 2014-08-27 18:05:49 +10:00
Andrew Tridgell 3357df9529 AP_Mission: fixed example sketch 2014-08-14 10:48:31 +10:00
Andrew Tridgell ce193f5c5c AP_Mission: fixed example build 2014-08-13 21:48:35 +10:00
Andrew Tridgell 7a12ff0271 AP_Mission: convert to using StorageManager 2014-08-13 18:46:43 +10:00
Daniel Frenzel 1c7e8f8fb2 AP_Mission: Consecutive return, break, continue, goto or throw statements are unnecessary. 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:26 +10:00
Andrew Tridgell df55ae86c4 AP_Mission: added last_change_time_ms() call 
will be used by terrain lib for scanning waypoints
 2014-08-06 17:59:19 +10:00
Randy Mackay 621cc2b953 Mission: bug fix to condition-change-alt 
Fix contributed by oniondream, thanks!
 2014-08-01 12:51:50 +09:00
Andrew Tridgell 50f67dd57d AP_Mission: fixed example build 2014-07-25 17:54:45 +10:00
Andrew Tridgell 34cbaa6f17 AP_Mission: added support for MAV_FRAME_GLOBAL_TERRAIN_ALT 2014-07-25 08:33:44 +10:00
Andrew Tridgell feaf9751cc AP_Mission: removed use of MAV_CMD_NAV_VELOCITY and MAV_CMD_NAV_GUIDED 2014-07-24 21:38:31 +10:00
Randy Mackay fe8a5be802 AP_Mission: support MAV_CMD_NAV_VELOCITY msg 2014-07-06 17:01:00 +09:00
Randy Mackay f4c9d58051 AP_Mission: add support for MAV_CMD_NAV_GUIDED 2014-07-06 17:00:26 +09:00
Randy Mackay 2f7dee3ba5 AP_Mission: squeeze loiter turns radius into high byte of p1 2014-06-17 20:53:50 +10:00
Andrew Tridgell f0df912a11 AP_Mission: added support for MAV_CMD_DO_INVERTED_FLIGHT 2014-06-05 15:44:18 +10:00
Randy Mackay 05f5164dfa Mission: rename AUTORESET to RESTART 2014-05-09 11:31:37 +09:00
Andrew Tridgell 818e500509 AP_Mission: improve the AP_Mission docs 
DisplayName isn't a description
 2014-04-29 11:46:06 +10:00
Andrew Chapman 782fbe1ec5 AP_Mission: added reset() function 2014-04-29 11:46:06 +10:00
Andrew Chapman a80e72ff82 AP_Mission: added MIS_AUTORESTART parameter 
- added MIS_AUTORESTART parameter, defaults to 0
- added start_or_resume() function to either start or resume a mission
based on that parameter value
 2014-04-29 11:46:06 +10:00
Andrew Tridgell e10542dcae AP_Mission: added get_current_nav_index() function 
this will return 0 when there is no current command, which is what is
expected in MAVLink when there is no mission

(it prevents the text to speech announcing "65 thousand 6 hundred and
thirty five", which is quite annoying!)
 2014-04-22 11:40:18 +10:00
Randy Mackay 5322093475 Mission: fix example sketch after GPS lib changes 2014-04-17 16:41:38 +09:00
Randy Mackay d8f9a1c6c6 Mission: add support for MAV_CMD_DO_PARACHUTE 2014-04-07 13:36:55 +09:00
Andrew Tridgell cc212be41e AP_Mission: added get_next_ground_course_cd() API 
this gives the ground course of the next navigation leg, which can be
used to calculate the amount of steering required
 2014-04-07 09:29:54 +10:00
Andrew Tridgell 31082f4ce2 AP_Mission: fixed a bug re-entering AUTO 
this fixes a bug found by Marco where we would continue in CRUISE mode
with no waypoint if we re-entered AUTO after a mission reset
 2014-03-31 06:18:07 +11:00
Randy Mackay 93f8d53d1b Mission: make get_prev_nav_cmd_index const 2014-03-30 23:09:54 +09:00
Randy Mackay ac339a0289 Mission: add decoding of NAV_SPLINE command 2014-03-28 09:23:30 +09:00
Randy Mackay f2d9ad41aa Mission: minor comment update 2014-03-28 09:22:56 +09:00
Andrew Tridgell 0af35bd636 AP_Mission: fixed some compiler warnings 2014-03-24 12:52:27 +11:00
Andrew Tridgell 3bdc22d672 AP_Mission: make p1 16 bit 
this gives us a 16 bit value for extra data on a location, allowing
for an accurate angle in centi-degrees.

Also add validation of the size of the union arms in Content
 2014-03-20 16:57:09 +11:00
Randy Mackay c520cb789c Mission: cmd field types to match mavlink commands 
Split Set-Servo and Repeat-Servo command structures
Split Set-Relay and Repeat-Relay command structures
 2014-03-19 12:14:22 +09:00
Randy Mackay 37cff752c8 Mission: handle Loiter direction 
loiter-unlimited, loiter-turns and loiter-time cms specify the turn
direction in Param3.  This is stored in the location's loiter_ccw flag.
Previously supported only in Plane, moving here allows us to share more
code with Plane, Copter, Rover.
 2014-03-19 12:13:16 +09:00
Randy Mackay c75560218d Mission: command specific structures 2014-03-19 12:12:51 +09:00
Andrew Tridgell 3a6698f54b AP_Mission: fixed typo 2014-03-19 12:12:42 +09:00
Andrew Tridgell 3538621c48 AP_Mission: doc updates 2014-03-19 12:12:40 +09:00
Randy Mackay 48329c1bba Mission: bug fix for loading consecutive do-cmds 
The verify step was not being run for the 2nd consecutive do-command in
a mission list
 2014-03-19 12:12:37 +09:00
Randy Mackay ece02b0c9a Mission: get_prev_nav_cmd returns int16 2014-03-19 12:12:34 +09:00
Randy Mackay 266a1ce9af Mission: bug fix set_current_cmd 
If mission had completed desired command index was ignored
 2014-03-19 12:12:27 +09:00
Andrew Tridgell 107cc2c126 AP_Mission: added truncate() function 
Used when loading a mission while flying

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2014-03-19 12:12:21 +09:00
Andrew Tridgell acdaf561c8 AP_Mission: fixed typo 2014-03-19 12:12:15 +09:00
Randy Mackay 8e117d29eb Mission: test exceeding command storage size 2014-03-19 12:11:55 +09:00
Randy Mackay 9e07070d86 Mission: pass eeprom start into constructor 
This allows different storage locations for ArduCopter, Plane and Rover
 2014-03-19 12:11:53 +09:00
Randy Mackay ddc4cd4f18 Mission: add init and check_eeprom_version methods 2014-03-19 12:11:46 +09:00
Randy Mackay 4c0a31a9dc Mission: init home to zero before writing to eeprom 2014-03-19 12:11:37 +09:00
Randy Mackay df339c05fc Mission: num_commands returns uint16 2014-03-19 12:11:25 +09:00