Randy Mackay
5341070af4
Rover: integrate rename of AR_WPNav::set_speed_max
...
range checks are no longer required because they are implemented within AR_WPNav
2022-03-30 15:34:14 +09:00
Randy Mackay
a5638f5699
Rover: auto, guided, rtl call wpnav.init instead of set-desired-speed
...
also smart-rtl
2022-03-30 15:34:14 +09:00
Randy Mackay
5d96804ef3
AR_WPNav: add protection against zero accel max
2022-03-30 15:34:14 +09:00
Randy Mackay
a1b9fe5097
AR_WPNav: jerk time reduced to 0.1 sec
2022-03-30 15:34:14 +09:00
Randy Mackay
c6dffb990f
AR_WPNav: add set_nudge_speed_max
...
allows pilot to override speed_max from RC input
2022-03-30 15:34:14 +09:00
Randy Mackay
394a5fd2fc
AR_WPNav: get/set_desired_speed renamed to get/set_speed_max
...
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
1996085282
AR_WPNav: init accepts speed max
...
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
2022-03-30 15:34:14 +09:00
Randy Mackay
a91025fa16
AR_WPNav: remove unused speed_min
2022-03-30 15:34:14 +09:00
Randy Mackay
537874c075
AR_WPNav: jerk_max maintained in position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
54eee7d311
AR_WPNav: simplify init
2022-03-30 15:34:14 +09:00
Randy Mackay
d03e801b65
AR_WPNav: remove get_accel_max, get_jerk_max
2022-03-30 15:34:14 +09:00
Randy Mackay
ee317299fc
Rover: sailboats enable wpnav's overspeed support
2022-03-30 15:34:14 +09:00
Randy Mackay
653afbeb15
AR_WPNav: enable_overspeed added to improve sailboat support
2022-03-30 15:34:14 +09:00
Randy Mackay
2f6e098f23
AR_WPNav: always use local calculation of cross track
...
also calc_crosstrack_error may return negative values
2022-03-30 15:34:14 +09:00
Randy Mackay
c9369b05b3
Rover: auto does not set unused _reached_destination member
2022-03-30 15:34:14 +09:00
Randy Mackay
a6b22e4db9
Rover: guided does not set _reached_destination member
2022-03-30 15:34:14 +09:00
Randy Mackay
147b1284c9
Rover: guided mode fix for reached_destination during wpnav
2022-03-30 15:34:14 +09:00
Randy Mackay
34447fa7a8
Rover: integrate AR_WPNav_OA
2022-03-30 15:34:14 +09:00
Randy Mackay
74889f1c7a
Rover: guided integrates wpnav's support of fast updates
...
also guided implements wp_bearing, nav_bearing, crosstrack_error and
get_desired_lat_accel
2022-03-30 15:34:14 +09:00
Randy Mackay
729dfee01c
AR_WPNav: pivot turns stop before turning
2022-03-30 15:34:14 +09:00
Randy Mackay
e0a628bb8c
AR_WPNav: add is_fast_waypoint accessor
2022-03-30 15:34:14 +09:00
Randy Mackay
0bcae12ceb
AR_WPNav_OA: use wpnav's expect fast updates
2022-03-30 15:34:14 +09:00
Randy Mackay
f769a18996
AR_WPNav: add set_desired_location_expect_fast_update
2022-03-30 15:34:14 +09:00
Randy Mackay
1fd9da710d
AR_WPNav: add internal error if invalid destination received
2022-03-30 15:34:14 +09:00
Randy Mackay
461c5196e7
AR_WPNav: add ACCEL and JERK params and accessors
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allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
2022-03-30 15:34:14 +09:00
Randy Mackay
47ab961f42
AR_WPNav: fix application of turn-max-g
2022-03-30 15:34:14 +09:00
Randy Mackay
b1237ffe80
AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE
2022-03-30 15:34:14 +09:00
Randy Mackay
3d048ddcc2
AR_WPNav: fix pivot activation when reversing
2022-03-30 15:34:14 +09:00
Randy Mackay
6515e71fc1
AR_WPNav: move OA path planning handling into a separate class
2022-03-30 15:34:14 +09:00
Randy Mackay
2a1013e896
AR_WPNav: set desired lat accel and crosstrack to zero when disarmed
2022-03-30 15:34:14 +09:00
Randy Mackay
c66f6188ea
Rover: param conversion for WP_PIVOT params
...
parameters moved from WPNav to AR_PivotTurn
2022-03-30 15:34:14 +09:00
Randy Mackay
a185e78271
AR_WPNav: integrate AR_PivotTurn class
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moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
2022-03-30 15:34:14 +09:00
Randy Mackay
7225d74777
AR_PivotTurn: pivot turn controller
...
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
2022-03-30 15:34:14 +09:00
Randy Mackay
4c6bccc8d5
Rover: incorporate mission change detector
2022-03-30 15:34:14 +09:00
Randy Mackay
315c5fb7d7
Rover: GCS_PID_MASK supports Velocity North and East
2022-03-30 15:34:14 +09:00
Randy Mackay
95c69811cb
Rover: integrate position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
9d629f5ecd
AR_WPNav: use position controller and s-curves
2022-03-30 15:34:14 +09:00
Randy Mackay
abc7bd446a
AR_PosControl: rover position controller
2022-03-30 15:34:14 +09:00
Randy Mackay
8fcefb59b1
AP_Math: add Vector2f::dot
2022-03-30 15:34:14 +09:00
Andy Piper
23f8a00619
AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation
2022-03-30 17:11:09 +11:00
Andy Piper
fff82bed75
AP_HAL: update prescaler tests
2022-03-30 17:11:09 +11:00
Mark Whitehorn
910406e82d
Plane: handle AIRBRAKE RC option
2022-03-29 22:51:10 +01:00
Peter Barker
d9f819085c
AP_Math: add specialisation for sq(float)
...
avoids conversion to double
2022-03-30 08:44:19 +11:00
Henry Wurzburg
479b02e5b0
HWDEF: add SLCAN OTG port, correct defaults.param errors
2022-03-29 10:43:51 +11:00
Andrew Tridgell
0879b497a4
AP_Param: fixed param class conversion code
...
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.
I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
2022-03-29 10:41:33 +11:00
Andy Piper
2e52496432
bootloaders: update spracing h7 extreme bootloader
2022-03-29 10:39:35 +11:00
Andy Piper
eb996f28cc
AP_HAL_ChibiOS: spro H7 extreme updates.
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cannot currently use both IMUs on spro H7 extreme due to CPU load
2022-03-29 10:39:35 +11:00
Henry Wurzburg
913afe7b4e
Blimp: fix duplicate param and remove params/values not used
2022-03-29 08:37:09 +09:00
Andy Piper
63229d7eca
AP_HAL_SITL: correct disable channel maths
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unilaterally write rcoutput to appease the sitl gods
2022-03-29 10:29:31 +11:00
Andy Piper
6511a65b67
SRV_Channel: don't count disabled channels in mask and setup functions
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disable channels that are not in use
2022-03-29 10:29:31 +11:00
