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115 Commits

Author SHA1 Message Date
Peter Barker ec4a621c45 Rover: remove stale defines for log message types 2020-02-05 10:04:08 +11:00
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
Peter Barker 4d4a63cc33 Rover: move Log_Write_Error into library 2019-03-27 12:36:40 +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
Tom Pittenger d5c67e0b07 Rover: move wheelEncoder logging to library 2019-02-06 10:41:59 +09:00
Randy Mackay 80e9a54aed Rover: arming and mode init checks use ekf_position_ok 2018-12-20 15:15:00 +09:00
Tatsuya Yamaguchi 3ff1bb7714 Rover: add ekf failsafe 2018-12-20 15:15:00 +09:00
Tatsuya Yamaguchi 32ba248c73 Rover: add continue-in-auto option to failsafe 2018-11-14 20:24:01 +09:00
Peter Barker 5d923aed85 Rover: remove dead gcs failsafe code 
Also use rc().has_valid_input() before using radio for trim
 2018-08-02 15:21:03 +09:00
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
Ammarf c0082271e6 Rover: implement Follow mode 2018-07-18 15:11:09 +09:00
Ebin 936ebbe1f3 Rover: Added BalanceBot as a rover frame 2018-06-28 21:55:20 +09:00
Peter Barker 36705af8ff Rover: create an enumeration to hold vehicle mode constants 
This gives us type-safety on the mode numbers.  This is advantageous as
some of these symbols exist with different values elsewhere in the code.
 2018-06-08 08:41:16 +09:00
Ammarf b95ac72d35 Rover: add LOITER to ch7 options 2018-05-24 17:59:45 +09:00
Randy Mackay c6638f66de Rover: Loiter mode for boats 2018-05-06 16:58:00 +09:00
Peter Barker 55c27dfc56 Rover: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
khancyr c3fb985ec5 Rover: add fence support 2018-01-22 17:18:41 +09:00
Randy Mackay 9710b16cac Rover: THR dataflash logging replaces CTUN 2017-12-09 12:18:49 +09:00
Randy Mackay aa38239629 Rover: add FRAME_CLASS to differentiate boats from rovers 2017-12-08 08:48:05 +09:00
Randy Mackay 1d92ec5724 Rover: set-position-target message processing only checks xy fields 2017-12-05 12:15:31 +09:00
Randy Mackay 0c6afac5c6 Rover: allow mode to be set from ch7 switch 2017-12-01 21:59:55 +09:00
Randy Mackay b4a779aec3 Rover: add arm/disarm to ch7 switch 2017-12-01 21:59:55 +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
Tom Pittenger f7d07fc146 Rover: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Randy Mackay 1600823b12 Rover: aux switch to learn cruise throttle and speed 2017-08-25 14:05:23 +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 bbb1329116 Rover: remove unused definitions 2017-08-17 11:58:07 +09:00
khancyr 23532bf45c Rover: add reason to set_mode 2017-07-31 18:01:17 +09:00
Peter Barker 07f4603533 Rover: integrate mode class 2017-07-21 10:13:20 +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 00204367fc APMRover2: Reduce the home position reset when disarm 2017-05-04 21:57:45 +10:00
Pierre Kancir 045d171ab9 Rover: add Guided velocity controller 2017-05-04 19:53:21 +10:00
Pierre Kancir ffaa355bee Rover: defines.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir dec954bb0c Rover: added crash check 2016-12-07 12:46:02 +11:00
Grant Morphett 515ceb3ccd Rover: Added logging of the guided commands 2016-11-28 12:00:03 +11:00
Grant Morphett 2d09db4ecb Rover: added a new form of GUIDED mode 
Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED
which has an angle in centidegrees and a speed scale and the rover
will drive based on these inputs.
 2016-10-25 08:04:01 +11:00
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
Pierre Kancir b16369ec8c APMrover2: define ENABLE as ENABLED 
Same for DISABLE as typo error protection
 2016-08-28 14:24:32 +02:00
Randy Mackay 1181acc4e4 Rover: add support for SET_POSITION_TARGET_GLOBAL_INT 
Also supports SET_POSITION_TARGET_LOCAL_NED but for both messages only the position fields are consumed.  Support for velocity, acceleration and yaw fields are not included.
 2016-08-25 13:08:26 +09:00
Peter Barker 85c58e30ec Rover: remove unused defines 2016-08-18 11:20:16 +10:00
Randy Mackay 30cba1a59c Rover: remove unused definitions 2016-06-18 11:55:49 +09:00
Andrew Tridgell c0172516af Rover: use DataFlash::log_while_disarmed() 2016-05-09 12:06:00 +10:00
Lucas De Marchi dd8014dd2f APMrover2: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Andrew Tridgell eed575886c APMrover2: update for changed AP_Camera API 2016-01-29 09:19:43 +11:00
Dario Lindo Andres f731a0dc53 APMrover2: Added precise camera trigger logging 
included update_trigger function
added camera trigger precise time mark
detect camera feedback pin status
added support for TRIGGER MSG
corrected according to defines.h
 2016-01-29 09:19:43 +11:00
Grant Morphett 3636b53313 Rover: Implementation of the ARMING functionality 2015-11-11 13:39:38 +11:00