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172 Commits

Author SHA1 Message Date
Peter Barker 22c5954c8f Rover: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker 9851ec1ddb Rover: move arming-related functionality into parent classes 
Logging moves up
arming via mavlink moves up
arming via switch moves up
 2019-05-30 07:37:30 +09:00
Tom Pittenger 818b1a77ea Rover: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Randy Mackay a94ebc5bc3 Rover: integrate navigation library 2019-05-10 06:55:35 +09:00
Peter Barker 47d9960eb9 Rover: call compass cal routine directly from sched table 2019-04-23 10:06:17 +10:00
Peter Barker 7d2138bed9 Rover: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Randy Mackay eb96dcf173 Rover: consolidate compass calls in sensors.cpp 2019-03-16 13:26:08 +09:00
Randy Mackay 7a80eb0169 Rover: move update_mission to APMrover2.cpp 2019-03-16 13:26:08 +09:00
Peter Barker 5bd0db4117 Rover: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
IamPete1 4f9b8e1b6c Rover: add E-stop 2019-02-27 08:51:24 +09:00
Peter Barker 75af170900 Rover: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker 323d6850d5 Rover: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker 76910f9283 Rover: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Peter Barker a722fd1323 Rover: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 6fcdfbbe32 Rover: attempt to set home position regardless of GPS lock 
The AHRS may be supplying as a home position through mechanisms other
than a GPS lock.  Don't assume in the caller to update_home().

Rover: fold update_home_from_EKF back into sole caller

This method is confusingly similarly named to update_home - and they do
pretty much the opposite thing.

Rover: remove incorrect and misleading comments on set_home_to_current_location

Rover: rewrite update_home to not set home if no origin set

Also checks that home is set before using values from it

Rover: zero stack variables when updating home

If these are a problem we have significant problems through the code
 2019-02-13 09:42:26 +11:00
Peter Barker 9105284a7d Rover: remove rc out initialisation wrappers 2019-02-12 08:21:30 +09:00
Peter Barker 9496ffea14 Rover: enable gripper support 2019-02-09 11:02:22 +09:00
Tom Pittenger d5c67e0b07 Rover: move wheelEncoder logging to library 2019-02-06 10:41:59 +09:00
jmachuca77 692281b273 Rover: adding AP_RPM 2019-02-05 08:32:37 -08:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Tatsuya Yamaguchi 3ff1bb7714 Rover: add ekf failsafe 2018-12-20 15:15:00 +09:00
Randy Mackay 66a2c10203 Rover: proximity logging uses LOG_BITMASK for rangefinder 2018-12-14 09:18:23 +09:00
Peter Barker f2dc8f9282 Rover: call GCS update functions at much higher rate to support lower intervals 2018-12-10 12:52:41 +09:00
Peter Barker 9665d8d2e9 Rover: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker 86994ba195 Rover: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker 5dcf4dfffc Rover: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay 6167e6ac0b Rover: gcs fs not triggered if rc-overrides arrive 
also not triggered if manual-control messages arrive
also minor restructure of gcs_failsafe_check (non-functional)
also remove unnecessary failsafe_trigger call when heartbeats arrive
 2018-11-02 10:31:37 +09:00
Randy Mackay 047f704236 Rover: last_heartbeat_ms moved to failsafe structure 2018-11-02 10:31:37 +09:00
IamPete1 0dddc2eafe Rover: add sailboat tacking 2018-11-01 18:04:19 +09:00
Andrew Tridgell 7ae90237e3 Rover: use set_flying to allow for compass learning to run 2018-10-24 07:25:42 +10:00
Randy Mackay 4a5b56c929 Rover: windvane update called from scheduler at 20hz 2018-09-28 10:40:12 +09:00
IamPete1 4366bae96d Rover: add sailboat support 2018-09-28 10:40:12 +09:00
Randy Mackay 85ac24d96e Rover: update wheel encoders at 50hz 2018-08-27 16:44:33 +09:00
Randy Mackay 9ae9f84498 Rover: fix G_Dt when SCHED_LOOP_RATE increased 
This fixes a bug in the G_Dt calculation which is used in the motors library and PID controllers.  The issue occurred in cases where the ahrs_update was not being run which could happen because it's estimated time was too long.
This also properly runs the critical functions (update ahrs, run flight mode code, send outputs to motors) at up to 400hz
 2018-08-25 17:50:15 +10:00
Randy Mackay 473e8d18a1 Rover: reduce scheduler estimated time for gcs tasks 2018-08-24 15:30:50 +09:00
Peter Barker ca7842afac Rover: add support for Sprayer 2018-08-17 15:33:35 +09:00
Randy Mackay 936dca7531 Rover: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker 1f0908bba2 Rover: move handling of RC Switches into RC_Channel 
Rover: use base-class auxsw handling

Rover: factor out do_aux_function_change_mode

Rover: move mode number enumeration to be in Mode:: namespace

Rover: move mode switch handling to RC_Channel

Rover: rename control_modes.cpp to RC_Channel.cpp

Rover: move motor_active() to be a method on the motors class
 2018-08-01 12:11:30 +09:00
Peter Barker ca264b1932 Rover: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Raouf 9d51e87762 Rover: Save compass offsets when disarmed and learning is on 2018-06-26 08:51:16 +09:00
Peter Barker 87a3fcdd02 Rover: remove usb-mux checking 
Nobody ever uses the result from this
 2018-06-20 02:12:56 +01:00
Peter Barker 9b269b1b56 Rover: use AP_RTC 
Rover: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Peter Barker cf1f2f9aeb Rover: move motors_active to be motors.active 
This will help when we come to subclass the Motors library.
 2018-06-08 08:51:18 +09:00
Randy Mackay 73bdc3be09 Rover: set ahrs flyforward if thr over 15% for 2 seconds 
or if throttle is positive and desired speed over 0.5m/s
 2018-05-29 16:37:31 +09:00
Randy Mackay 24dd9a1c2c Rover: update GPS at 50hz 2018-05-23 17:17:29 +09:00
Randy Mackay cc53b9c39d Rover: update current_loc in update_ahrs 
this ensures the current_loc is updated before any of the flight mode code runs
 2018-05-23 17:17:29 +09:00
Peter Barker 3afe591368 Rover: correct compilation when logging is disabled 2018-05-10 17:55:13 +09:00
Peter Barker 9e1811027d APMrover2: move try_send_message handling of RC_CHANNELS_RAW up 2018-05-08 12:33:32 +01:00
Peter Barker e73a02343a Rover: GPS now logs its own data 2018-04-18 13:50:55 +09:00