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1493 Commits

Author SHA1 Message Date
Randy Mackay
82e61d7198 Rover: remove unused throttle_failsafe_active method 2017-08-25 14:05:23 +09:00
khancyr
4ab11027a7 Rover: remove unused mavlink_delay(uint32_t ms) 2017-08-24 20:41:16 +09:00
khancyr
4c977f16ce Rover: reduce ADC warm up time 2017-08-24 20:41:16 +09:00
khancyr
2f1cc5ddfc Rover: support brushed motor on normal rover 2017-08-24 20:09:47 +09:00
khancyr
25b1307400 Rover: solve servo reverse in brushed configuration 2017-08-24 20:05:27 +09:00
Peter Barker
4fc31cf80d Rover: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Randy Mackay
7a37a7f921 Rover: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay
3f1271214e Rover: rename MotorsUGV pwm type to brush-with-relay 2017-08-22 10:09:13 +09:00
khancyr
46e6057493 Rover: solve servo reverse in brushed configuration 2017-08-22 10:09:10 +09:00
Peter Barker
ee39ec3751 Rover: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
92becb2875 Rover: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Randy Mackay
bbb1329116 Rover: remove unused definitions 2017-08-17 11:58:07 +09:00
khancyr
2ceb29e9da Rover: use abs for int within calc_speed_nudge 
same issue resoled for log-write-nav-tuning
 2017-08-17 09:46:56 +09:00
khancyr
ed19db7188 Rover: set_mode arg name to match implementation 
definition and implementation used different argument name
 2017-08-17 09:46:19 +09:00
khancyr
a035950a22 Rover: minor format fix 2017-08-17 09:45:49 +09:00
khancyr
58b643c458 Rover: replace divide with multiply in calc_throttle 
non functional change
 2017-08-17 09:45:21 +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
e2d4182c75 Rover: fix parameter conversion 2017-08-17 09:39:40 +09:00
Randy Mackay
c9927e6af6 Rover: bug fix to steering mode top speed 
Also non-functional change to calc_throttle to make call to calc_speed_nudge consistent
 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
c0fe1b7ec8 AP_MotorsUGV: minor comment fix 2017-08-17 09:39:40 +09:00
Randy Mackay
c8eceeabb6 AP_MotorsUGV: add THR_MIN, THR_MAX parameters 2017-08-17 09:39:40 +09:00
Randy Mackay
c61f965828 AP_MotorsUGV: re-order implementation to match declaration 
non-functional change
 2017-08-17 09:39:40 +09:00
Peter Barker
f3a0d2b02b Rover: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Grant Morphett
2463bfd2ec Rover: fix SITL Make build on Windows 
PE linker can't remove unused methods so we add the necessary libraries
 2017-08-15 21:51:13 +01:00
Peter Barker
4c2747bfe8 Rover: use rangefinder backend accessors 2017-08-15 18:30:45 +01:00
Michael du Breuil
a98c8427dd Rover: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Randy Mackay
348dbdaf22 Rover: fix do-nav-wp comment 2017-08-15 20:47:19 +09:00
Randy Mackay
57b2b02509 Rover: remove out-of-date comment 2017-08-15 20:47:19 +09:00
Randy Mackay
492fe40f93 Rover: re-organise private member declarations 
declarations are grouped by file (which are in turn organised alphabetically) and in the order they appear within each file
non-functional change
 2017-08-15 20:47:19 +09:00
Randy Mackay
6c7db05207 Rover: re-organise includes 
non-functional change
 2017-08-15 20:47:19 +09:00
Randy Mackay
06a7e46447 Rover: remove PID from build 2017-08-15 20:47:19 +09:00
Randy Mackay
95c5ada3e9 Rover: modes use stop_vehicle to stop gently 
modes slow to a stop instead of immediately setting motors to zero
vehicle centers steering when stopping
 2017-08-15 20:47:19 +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
Randy Mackay
c56d8cb6b1 Rover: add AC_PID and AR_AttitudeControl to build 2017-08-15 20:47:19 +09:00
Randy Mackay
a5783939ef AP_MotorsUGV: add limit flags 
These flags become true when the steering servo or motors hit their
limits.  used to stop I-term build-up in higher level controllers.
 2017-08-15 20:47:19 +09:00
Peter Barker
fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Randy Mackay
59a1f260d1 Rover: remove unused compat.h 2017-08-12 14:46:46 +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
Randy Mackay
28d74722bd AP_MotorsUGV: minor formatting fix 2017-08-12 13:34:27 +09:00
Randy Mackay
bff74115bc Rover: remove unused distance_past_wp 2017-08-12 13:05:01 +09:00
Randy Mackay
a00c7e0acb Rover: mode calc_reduced_speed_for_turn gets some const for local variables 2017-08-12 12:29:13 +09:00
Randy Mackay
66bb3e8ee0 Rover: minor formatting fix to parameters.cpp 2017-08-12 12:14:54 +09:00
Peter Barker
edab526b01 Rover: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
f7fd663f45 Rover: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
89a5272ab5 Rover: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
341a9ae032 Rover: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
ece800ba90 Rover: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Peter Barker
c642dc616a Rover: use new retry_deferred method 2017-08-05 23:14:18 +01:00
khancyr
6b429bd372 Rover: remove redundant GPS check before camera update 
this same check is included within AP_Camera
 2017-08-05 17:05:19 +09:00
khancyr
7c3374668e Rover: formatting fixes and const local variables 2017-08-05 17:05:00 +09:00
khancyr
848df551ac Rover: formatting and comment fixes to mode class 2017-08-05 17:02:52 +09:00
Randy Mackay
efc790a84a Rover: add comment to mode 2017-08-05 11:20:58 +09:00
Randy Mackay
30852d4713 Rover: auto-reversed moved to mode 2017-08-05 11:20:58 +09:00
Randy Mackay
4f5e82f406 Rover: mode fixes for reversing 2017-08-05 11:20:58 +09:00
Randy Mackay
66f1437e4f Rover: remove unused throttle variable 2017-08-05 11:20:58 +09:00
Randy Mackay
1e8e3609c6 Rover: remove duplicate setting of ground_speed 
update_ahrs already does this using a slightly different method, having both likely leads to small twitches in ground speed at 10hz
 2017-08-05 11:20:58 +09:00
Randy Mackay
e88b1572b6 Rover: remove navigate 2017-08-05 11:20:58 +09:00
Randy Mackay
fe6465b748 Rover: remove next_WP, wp_distance, navigate 
Also remove prev_WP, wp_totalDistance which are all handled within mode class
 2017-08-05 11:20:58 +09:00
Randy Mackay
b4af441eb9 Rover: remove unused update_navigation 2017-08-05 11:20:58 +09:00
Randy Mackay
2640ec9ed9 Rover: rename update_commands to update_mission 2017-08-05 11:20:58 +09:00
Randy Mackay
56b0621994 Rover: verify_RTL calls rtl mode 
also remove unused rtl_complete
 2017-08-05 11:20:58 +09:00
Randy Mackay
1b19ee865d Rover: remove active-loiter and set-auto-wp 
these are now handled by auto mode
 2017-08-05 11:20:58 +09:00
Randy Mackay
974453607e Rover: replace do-yaw with nav-set-yaw-speed 2017-08-05 11:20:58 +09:00
Randy Mackay
27e833ebd1 Rover: verify_within_distance gets distance directly from auto mode 2017-08-05 11:20:58 +09:00
Randy Mackay
3863542194 Rover: adjust set-position-target-local-ned handling 
add support for just yaw or yaw-rate
remove support for simultaneous position and velocity
 2017-08-05 11:20:58 +09:00
Randy Mackay
46faece76b Rover: set-attitude-target accepts quaternions for target heading 2017-08-05 11:20:58 +09:00
Randy Mackay
d56d222971 Rover: set-attitude-target consumes thrust in -1 to +1 range 
This makes the processing consistent with the mavlink spec
 2017-08-05 11:20:58 +09:00
Randy Mackay
b9db9229d9 Rover: replace vehicle code guided methods with calls to guided mode class 
set_guided_WP replaced by mode_guided.set_desired_location
nav_set_yaw_speed replaced with mode_guided.set_desired_heading_and_speed
set_guided_velocity replaced with mode_guided.set_desired_turn_rate_and_speed
guided_control structure replaced with mode_guided members
use_pivot_steering accepts yaw-error argument instead of calculating it itself internally
 2017-08-05 11:20:58 +09:00
Randy Mackay
783f8243df Rover: use mode class's get_distance_to_destination and speed_error 
used for reporting to GCS and logging
 2017-08-05 11:20:58 +09:00
Randy Mackay
f71db5ae05 Rover: rtl mode refactoring 
slow down for turns
 2017-08-05 11:20:58 +09:00
Randy Mackay
946a0a8e54 Rover: guided mode refactoring 
add set-desired methods
add get_distance_to_destination
fix to one interation with no update to motors
slow down for turns
 2017-08-05 11:20:58 +09:00
Randy Mackay
279491ed20 Rover: auto mode refactoring 
updating mission is handled by the vehicle code
slows down for turns
add active at destination
remove setting of loiter start time
removes unused calc_nav_steer
 2017-08-05 11:20:58 +09:00
Randy Mackay
2accb5831d Rover: mode refactoring 
add ahrs reference
add set-desired-location method
move _reached_destination member in from child
calc_lateral_acceleration args renamed and added comemnts
calc_lateral_acceleration updates _yaw_error_cd
remove calc_lateral_acceleration method with no arguments
calc_throttle updates _speed_error and becomes protected
remove unused variables from calc_throttle
calc_reduced_speed_for_turn_or_distance reworked
do not use rover throttle or rtl_complete
calc_nav_steer comment updates
remove unused update_navigation
 2017-08-05 11:20:58 +09:00
Peter Barker
137d513fdc Rover: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker
dbac7447d6 Rover: move try_send_message send_hwstatus up 2017-08-03 14:34:33 +01:00
Peter Barker
4da89a948a Rover: move try_send_message mission handling up 2017-08-03 14:33:37 +01:00
Peter Barker
dbdfce570a Rover: move try_send_message compass message handling up 2017-08-03 14:24:47 +01:00
Peter Barker
d44c7f0886 Rover: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
khancyr
23532bf45c Rover: add reason to set_mode 2017-07-31 18:01:17 +09:00
Peter Barker
2014eb0def Rover: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker
81d52c282c Rover: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay
96d55e0dbe Rover: fix wheel encoder parameter names 
extra underscore removed
 2017-07-27 21:57:17 +09:00
Peter Barker
160831d4ca Rover: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Randy Mackay
ddc70058d5 Rover: reporting wheel encoder rpm 2017-07-27 16:52:29 +09:00
Randy Mackay
ae487aa99b Rover: update wheel encoder at 20hz 2017-07-27 16:52:29 +09:00
Randy Mackay
72d35593d8 Rover: send wheel encoder data to EKF 2017-07-27 16:52:28 +09:00
Randy Mackay
3d13d98410 Rover: steering mode direction fix when reversing 
this corrects the rotation direction when moving backwards in steering mode so that it's consistent with manual mode
 2017-07-26 10:57:45 +09:00
Randy Mackay
f9186de0ca Rover: steering mode formatting change 
no functional change
 2017-07-26 10:57:45 +09:00
Peter Barker
fec152385c Rover: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
khancyr
ded1bad6c3 Rover: remove duplicate calls from update_navigation() 
calc_lateral_acceleration() and calc_nav_steer() aren't need here
 2017-07-21 10:13:20 +09:00
khancyr
ca3bc05c28 Rover: Don't check if in AUTO on commands callback 
This isn't need anymore with modes
 2017-07-21 10:13:20 +09:00
Randy Mackay
88b2f62e2f Rover: mode rtl loses duplicate calls to calc_lateral_acceleration 
Also no need to call calc_nav_steer
no need to set throttle before entering hold
 2017-07-21 10:13:20 +09:00
Randy Mackay
4fe937b985 Rover: do_RTL calls set_mode(RTL) 
This reverses the caller so the vehicle code calls into the mode instead of the mode calling up into the vehicle code
 2017-07-21 10:13:20 +09:00
Randy Mackay
e7424a456f Rover: update advanced failsafe 2017-07-21 10:13:20 +09:00
khancyr
707b006f76 Rover: minor style correction on log 2017-07-21 10:13:20 +09:00
Randy Mackay
2321cefdc2 Rover: move manual mode failsafe handling to mode class 2017-07-21 10:13:20 +09:00
Randy Mackay
6626c2e12e Rover: only mode manual directly copies rc input to motors 2017-07-21 10:13:20 +09:00
Randy Mackay
f17f56dea4 Rover: move throttle nudge to Mode class 2017-07-21 10:13:20 +09:00
khancyr
b9644c4ec7 Rover: disable slew limit by default on mode 2017-07-21 10:13:20 +09:00
khancyr
809a9e5894 Rover: auto mode fails to enter if no mission 
This prevent going into Auto without a mission and skipping the first mission waypoint because we aren't yet in Auto when in enter()
 2017-07-21 10:13:20 +09:00
Peter Barker
07f4603533 Rover: integrate mode class 2017-07-21 10:13:20 +09:00
Peter Barker
2a9b1017b6 Rover: add control modes class 2017-07-21 10:13:20 +09:00
Peter Barker
9173c7caaf Rover: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker
c9c1f3ea29 Tracker: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
efa59d47f2 Rover: fix FS_THR_VALUE min range 2017-07-19 20:33:07 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
916a2e8fca Rover: Failsafe parameters default values macros are not used, so delete them 
@OXINARF told me that they existed.
@tridge told me I should delete them, now that we have run-time parameters
 2017-07-19 20:31:48 +09:00
Randy Mackay
285653da30 Rover: fix init order to clear compile warning 
no functional change
 2017-07-19 15:26:33 +09:00
Randy Mackay
55a1c9afdf Rover: add advanced failsafe to make build 2017-07-19 15:24:19 +09:00
khancyr
918992eb10 Rover: remove unimplemented functions 2017-07-19 11:00:34 +09:00
Peter Barker
f1c3e16354 Rover: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
khancyr
2e451eb2bc Rover: fix motor test for pilot passthrough of steering 2017-07-18 10:15:44 +09:00
Randy Mackay
b6033df457 Rover: intergrate motor test motor seq enum change 2017-07-18 10:15:44 +09:00
Randy Mackay
e5b746c7dd AP_MotorsUGV: fix motor test sequence 
motor test sequence starts from 1
 2017-07-18 10:15:44 +09:00
Randy Mackay
8a86b64776 Rover: motor test accepts negative percentages 2017-07-18 10:15:44 +09:00
Randy Mackay
ebeb0923cb Rover: motor test gets improved failure explanations 
Also fix pass through for steering channel
 2017-07-18 10:15:44 +09:00
khancyr
5208466629 Rover: add motor test 2017-07-18 10:15:44 +09:00
Randy Mackay
7bfb79a4b7 AP_MotorsUGV: add motor_output_test_pwm 
this allows the ground station to test a motor by requesting a specific pwm value
 2017-07-18 10:15:44 +09:00
khancyr
2cd3dd5cba AP_MotorsUGV: add motor output test 2017-07-18 10:15:44 +09:00
khancyr
8421575f05 AP_MotorsUGV: add output_throttle to handle scaling and relay 
this function hides the difference in scaling between the regular throttle
(-100 to +100) and the throttleLeft and throttleRight (-1000 to +1000)
Also handles the setting of the relay for brushed-with-relay motors
 2017-07-18 10:15:44 +09:00
khancyr
8223743df8 Rover: add pre_arm_rc_checks 2017-07-18 10:15:44 +09:00
Peter Barker
cee7ce0571 Rover: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker
3586f0e8fb Rover: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker
a963a80b91 Rover: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Peter Barker
7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker
bcf7c6e6b6 Rover: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker
40eb07f472 Rover: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil
993df82cfa APMRover: Fix bad parameter generation for AP_MotorUGV 2017-07-16 08:26:52 +10:00
Michael du Breuil
a077eac6a9 Rover: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
khancyr
40b860e240 Rover: rename sonar to rangefinder 2017-07-14 17:40:05 +01:00
Peter Barker
2717244dd8 Rover: move rally-point handling up 2017-07-14 01:28:05 +01:00
Randy Mackay
5fc30c763e Rover: move Log_GuidedTarget declaration 
No functional change
 2017-07-14 07:27:26 +09:00
Randy Mackay
ebbbe0584a Rover: integrate wheel encoder 2017-07-14 07:27:26 +09:00
Randy Mackay
f6a1c53ff6 Rover: add AP_WheelEncoder to build 2017-07-14 07:27:26 +09:00
Peter Barker
adb89c5ca6 Rover: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker
7aff4c6ab9 Rover: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay
208607d668 Rover: remove output_trim_all during initialisation 
MotorUGV library now outputs the proper values on the motor channels.  Other libraries are also responsible for initialising their outputs on startup.
 2017-07-12 14:24:16 +09:00
Peter Barker
aeed1f0ff4 Rover: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker
901045b029 Rover: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
Peter Barker
2692ee22d3 Rover: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker
130ad52a22 Rover: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
khancyr
b28656eb11 Rover: reoder rc and servo init 2017-07-10 19:48:35 +09:00
Randy Mackay
774e484869 Rover: remove servo channel failsafe from vehicle code 
This is now handled by the MotorsUGV library
 2017-07-10 10:37:14 +09:00
Randy Mackay
6464bfb601 MotorsUGV: set failsafe output 
This informs the I/O board to stop sending pwm if the I/O board loses
contact with the main CPU
 2017-07-10 10:37:12 +09:00
Peter Barker
9509f7f1bf Rover: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker
7ad003a211 APMrover2: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay
03d04c934e Rover: improve skid-steer input processing 
limit the steering input
reverse commanded steering value if reversing to be consistent with separate steering-throttle frames
 2017-07-08 16:07:13 +09:00
khancyr
f8a564f283 Rover: rename BRUSHEDPLUS to BRUSHEDBIPOLAR 2017-07-08 16:07:13 +09:00
khancyr
8ab3e83a3c Rover: use float qualifier and functions 2017-07-08 16:07:13 +09:00
khancyr
1f0c985dec Rover: add setup_servo_output to allow ouput reconfiguration 2017-07-08 16:07:13 +09:00
Pierre Kancir
38dcc2eb12 Rover: minor formatting fix 2017-07-08 16:07:13 +09:00
Pierre Kancir
ba8664193a Rover: fix failsafe throttle 2017-07-08 16:07:13 +09:00
khancyr
9b97ad0fc0 Rover: solve skid steer in value 2017-07-08 16:07:13 +09:00
Pierre Kancir
f70a2b36ea Rover: integrate brushless motor support 2017-07-08 16:07:13 +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
Pierre Kancir
29c59644b7 AP_MotorsUGV: add BrushedPlus motor type 
BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
 2017-07-08 16:07:13 +09:00
Pierre Kancir
76c9d3982a AP_MotorsUGV: motors lib for Rover 2017-07-08 16:07:13 +09:00
Randy Mackay
1fb6d45d5f Rover: version to 3.2.0-dev 2017-07-08 12:24:57 +09:00
Peter Barker
cfeb449979 Rover: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev
b6c397c85a APMrover2: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay
1fc85e9a8c Rover: adjust skid steer motor mixing, fix rotation direction in reverse 
balanced prioritisation of throttle vs steering when motors become saturated
direction of turning made consistent with normal (ie non-skid-steered) vehicles

Also includes fixes to motor mixing after peer review
 2017-07-01 19:48:01 +09:00
Randy Mackay
f036b1f92c Rover: pivot steering stays active until within 10deg of target heading 
Previously the vehicle would pop out of pivot-steering once it was within PIVOT_TURN_ANGLE degrees of the target heading.  This meant that it would give up on the pivot steer long before it was actually pointing at the target.
 2017-07-01 19:48:01 +09:00
Peter Barker
4646eb3b95 Rover: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker
dcad79bdef Rover: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker
8697faa44f Rover: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Randy Mackay
351b37fc31 Rover: only report system status after init has completed 
This reduces errors reported to the GCS during startup
 2017-06-28 11:32:01 +09:00
Georgii Staroselskii
eed08fb8cd Rover: cork and push servo outputs 
SRV_Channels API makes it easy to sync all PWM channels at once. This is
the support needed for it to work properly on Rovers.
 2017-06-27 11:46:41 -07:00
Peter Barker
3a85d8ed39 Rover: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker
689a5cb238 Rover: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Pierre Kancir
c865972e9c Rover: remove skid_steer_out parameter 2017-06-24 13:17:36 +09:00
Pierre Kancir
0017485ee7 Rover: move failsafe_trigger from system to failsafe 2017-06-24 13:17:35 +09:00
Pierre Kancir
9abb1f634f Rover: add comments to Steering 2017-06-24 13:17:33 +09:00
Pierre Kancir
031ed4bbb0 Rover: Remove old skid steering 2017-06-24 13:17:33 +09:00
Pierre Kancir
41e18f089e Rover: remove g.skid_steer_out in favor of have_skid_steering() 2017-06-24 13:17:32 +09:00
Pierre Kancir
1dcf90c161 Rover: use scaled input in Manual modes 2017-06-24 13:17:26 +09:00
Pierre Kancir
ee28e49790 Rover: steering mark floats as float and fix parenthesis 2017-06-24 13:17:10 +09:00
Pierre Kancir
97595f98ac Rover: add comments to scheduler 2017-06-24 13:17:05 +09:00
Pierre Kancir
ef2c2e4afc Rover: add some comments in radio 2017-06-24 13:16:59 +09:00
Pierre Kancir
feb8c30af4 Rover: move rssi.init and set_control_channels 2017-06-24 13:16:54 +09:00
Pierre Kancir
7595ffb8ba Rover: set correct safety limit 2017-06-24 13:16:48 +09:00
Pierre Kancir
32dc59baec Rover: fix throttle slew limit for skid steer out 2017-06-24 13:16:40 +09:00
Andrew Tridgell
2e24c35906 Rover: setup default esc scaling 
for rovers without a k_throttle channel we need a default ESC scaling
value
 2017-06-21 10:30:39 +09:00
Andrew Tridgell
d060fd2826 Rover: replace get_output_norm*100 for throttle with get_output_scaled 
No functional change
 2017-06-21 10:30:39 +09:00
Andrew Tridgell
79f7cc5779 Rover: implement new style skid steering 
use throttleLeft and throttleRight servo functions. This gives much
greater flexibility and control over motor trims and limits
 2017-06-21 10:30:39 +09:00
Michael du Breuil
57c9afb77e Rover: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Pierre Kancir
8a85b8be4c APMRover2: correct usage of set_output_pwm 2017-06-20 15:58:33 +09:00
Peter Barker
900f0cc774 Rover: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Peter Barker
aeacc11573 APMrover2: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker
0df30d03b1 Rover: call dataflash should_log method 2017-06-16 17:07:48 +01:00
Peter Barker
8c074c7b73 Rover: simplify dataflash initialisation 2017-06-14 12:20:29 +01:00
Randy Mackay
a07920c5b2 Rover: add init_compass method 
no functional change
 2017-06-14 09:12:20 +09:00
Randy Mackay
eb2aa80fca Rover: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-14 09:12:20 +09:00
Randy Mackay
584974fd74 Rover: set home from ekf position 2017-06-14 09:12:20 +09:00
Randy Mackay
0da6e73d76 Rover: add support for visual odometry 2017-06-14 09:12:20 +09:00
Randy Mackay
b56e246da6 Rover: add visual odometry to build 2017-06-14 09:12:20 +09:00
Peter Barker
81b19204c3 Rover: StartUnstartedLogging replaces logging_started/start_logging 2017-06-11 20:34:12 +01:00
Peter Barker
c5d40fd8b4 Rover: simplify should_log (NFC) 2017-06-11 20:34:12 +01:00
Pierre Kancir
a26710d769 APMRover2: add support for DISTANCE_SENSOR 2017-06-08 01:31:57 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas
981807fe9a Rover: NFC SYS_NUM_RESETS is a read-only variable 2017-06-07 19:53:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
771d2fb13c Rover: Be more explicit that a SPEED_TURN_GAIN value of 80% reduces "to 80%" and not "by 80%" 2017-06-06 11:34:52 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
c389dd93d7 Rover: NFC - correct the units of the RNGFND_TURN_ANGL parameter 2017-05-30 12:09:50 +09:00
Paulo Neves
74d67f8d05 Rover: Add MAV_CMD_DO_SET_CAM_TRIGG_DIST support. 2017-05-25 09:35:22 +09:00
Michael du Breuil
379a4fbfab Rover: Ignore landing message 2017-05-24 15:22:27 -07:00
Grant Morphett
5ac1293a52 Rover: Make base_mode armed status depend upon the arming library, not 
soft armed

This change brings it in line with Plane.
 2017-05-23 14:51:22 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
aaa26af3f4 Rover: Fix constructor initialization order 2017-05-18 09:31:11 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
f004f4b499 Rover: Spell in comments 2017-05-18 09:29:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
a2472e6787 Rover: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell
f08074c0d7 Rover: removed AP_Airspeed from vehicle code 2017-05-04 22:59:02 -07:00
Grant Morphett
192ffdcca8 Rover: Creating beta release 3.2.0 Beta2 2017-05-04 21:59:45 +10:00
Pierre Kancir
00204367fc APMRover2: Reduce the home position reset when disarm 2017-05-04 21:57:45 +10:00
Pierre Kancir
f725e9f2b5 APMRover2: correct some style after addition of velocity controler 2017-05-04 19:53:21 +10:00
Pierre Kancir
ed26c103f9 APMRover2: prevent unless calculus when stoping 2017-05-04 19:53:21 +10:00
Pierre Kancir
670e7b7914 ROVER: put all guided param in one structure 2017-05-04 19:53:21 +10:00
Pierre Kancir
045d171ab9 Rover: add Guided velocity controller 2017-05-04 19:53:21 +10:00
Randy Mackay
c1d3384835 Rover: rename set_next_WP to set_auto_WP to clarify usage 2017-05-04 19:53:21 +10:00
Randy Mackay
d6b55b2d09 Rover: set_guided_WP accepts location 2017-05-04 19:53:21 +10:00
Peter Barker
74e0d6c60a Rover: move init of DataFlash references into vehicle init 
It is possible to start a log before the existing codepath is crossed.
 2017-05-01 15:04:34 +01:00
Andrew Tridgell
37585f213a Rover: use common send_queued_parameters() 2017-05-01 14:36:10 +10:00
Andrew Tridgell
c5d17a9d92 Rover: call BoardConfig.init_safety() at end of startup 
this fixes a bug where motors can start on soft reboot
 2017-04-30 21:47:04 +10:00
Pierre Kancir
27e52695fe APMRover2: add initial support for MAV_CMD_CONDITION_YAW 2017-04-28 12:01:47 +10:00
Andrew Tridgell
b344bd1071 Rover: fixed duplicate include of AP_ADC library 2017-04-27 18:32:26 +10:00
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
7f861aafd0 APMRover2: make on spot turn in skid and manual use full motor range 2017-04-26 10:38:01 +10:00
Pierre Kancir
83bf1fdca5 APMrover2: remove useless variable 2017-04-26 08:43:09 +10:00
Pierre Kancir
f13425aa28 APMRover2: make crash_check define static const 2017-04-26 08:43:09 +10:00
Pierre Kancir
2eb0ed6242 APMRover2: Remove, correct some cast 2017-04-26 08:43:09 +10:00
Pierre Kancir
409e8b5f26 APMRover2: Remove unused config define 2017-04-26 08:43:09 +10:00
Pierre Kancir
91958fb96a APMRover2: Remove unused config define 2017-04-26 08:43:09 +10:00
Pierre Kancir
20cc336885 APMRover2: const correctness 2017-04-26 08:43:09 +10:00
Pierre Kancir
c41e695c98 APMRover2: correct some style 2017-04-26 08:43:09 +10:00
Pierre Kancir
b634fe548d APMRover2: Use c++ cast 2017-04-26 08:43:09 +10:00
Peter Barker
d0f2e7bf3a Rover: log GPS detection state to DF on log startup 2017-04-23 21:04:17 +01:00
Andrew Tridgell
7cc1009dab Rover: ignore MSG_AOA_SSA 2017-04-19 20:48:42 +10:00
Pierre Kancir
6d1586044c APMRover2: unhide default CH_7_PWM_TRIGGER & make it static const 2017-04-15 13:48:40 +10:00
Pierre Kancir
d4bd61d859 APMRover2: unhide default NAVL1_PERIOD with a define 
set the correct value to param
 2017-04-15 13:48:40 +10:00
Michael du Breuil
7328a8ad41 Rover: Send BATTERY_STATUS 2017-04-12 10:21:49 +09:00
Michael du Breuil
7b2da01836 Rover: Update for L1 constructor 2017-04-06 08:26:04 +10:00
Grant Morphett
0f671394e5 Rover: Creating Rover 3.2.0 BETA 1. 2017-04-03 12:28:30 +10:00
Andrew Tridgell
9cbfc4ddd3 Rover: add available memory to PM message 2017-03-27 14:35:21 +09:00
Grant Morphett
8212841b68 Rover: Bringing the releases notes up to date. 2017-03-15 17:24:35 +11:00
Grant Morphett
cfb11729a6 Rover: Setting crash detecting to off by default. 2017-03-15 17:24:35 +11:00
Grant Morphett
304c9b6e72 Rover: Fixed a bug in reverse 
If a user was driving in reverse and when into an auto mission the
rover would try to do the whole mission in reverse.  This fixes that.
 2017-03-15 17:24:35 +11:00
Grant Morphett
3410db5022 Rover: Fix motor_active check to checkout throttle output servo 2017-03-15 17:24:35 +11:00
Andrew Tridgell
3a7c541145 Rover: log home and origin on logging start 2017-03-14 10:51:15 +11:00
Pierre Kancir
1bd863e36b ROVER: stop mission when leaving AUTO 2017-03-09 22:17:01 +11:00
Randy Mackay
b8f24fba98 Rover: fix SYSID_ENFORCE parameter description 2017-02-28 15:07:59 +09:00
Michael du Breuil
51c97af5b5 Rover: Reset home to AHRS location rather then snapshotting GPS 
Also corrects rover locking home altitude to EKF origin altitude
 2017-02-28 11:33:53 +11:00
Randy Mackay
f29fe8bb88 Rover: always specify rangefinder instance 2017-02-27 15:18:32 +09:00
Grant Morphett
8f252c4983 Rover: Incrementing version number to 3.2.0-dev 2017-02-24 11:29:25 +11:00
Pierre Kancir
7e746df82d Rover: correct crash checker to take on spot rotation 2017-02-16 09:45:08 +11:00
Andrew Tridgell
fe4baf2904 Rover: setup frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker
82ac46e0ed Rover: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker
45e0765b97 Rover: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker
407e251e1d Rover: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
7f5ef7cf3a Rover: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Andrew Tridgell
36cf57c0fa Rover: fixed parameter path 2017-02-06 15:12:32 +11:00
Pierre Kancir
99ba8bdc08 APMRover2: add advance failsafe 2017-01-31 17:12:37 +11:00
murata
0c813c5afa Rover: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Randy Mackay
c701d6a715 Rover: send text to notify 2017-01-23 15:07:21 -08:00
Randy Mackay
cc64c5e44a Rover: notify initialised after parameters loaded 2017-01-23 15:07:21 -08:00
Randy Mackay
0b8ebe36dd Rover: send flight mode string to Notify 2017-01-23 15:07:21 -08:00
Peter Barker
ddf172c75b Rover: AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Pierre Kancir
b31d2a59da APMRover2: Fix skid steer in when in skid steer out 2017-01-17 10:31:43 +11:00
Pierre Kancir
e0a3caea13 APMRover2: Steering fix style 2017-01-17 10:31:43 +11:00
Andrew Tridgell
9fe3eba2a0 Rover: added automatic parameter upgrade for SRV_Channel 2017-01-12 17:39:37 +11:00
Andrew Tridgell
c638be54a3 Rover: removed use of pwm_to_angle() 2017-01-12 17:39:37 +11:00
Andrew Tridgell
93d6b012c2 Rover: convert to new SRV_Channel API 2017-01-12 17:39:37 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
5bf45dbffd APMrover2: publish SPEED2THR_ parameters 2017-01-07 10:32:11 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
0054df9907 APMrover2: Correct AUTO_TRIGGER_PIN Values format 
This allows simplified machine parsing of the generated XML file
 2017-01-07 10:23:56 +11:00
Peter Barker
12d0241e51 Rover: fix compile when logging disabled 2017-01-03 08:51:50 +11:00
Peter Barker
61430a51b3 Rover: correct compilation when camera disabled 2017-01-02 16:17:43 +11:00
Pierre Kancir
7131b20b81 Rover: test.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
52aa6b5767 Rover: system.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
c2adb04a93 Rover: setup.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
51aaa7efa7 Rover: sensors.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
25fbfeb5cf Rover: radio.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
fb8446ffd5 Rover: navigation.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
fa0b007efb Rover: failsafe.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
ffaa355bee Rover: defines.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
5232dce268 Rover: control_modes.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
597423fffc Rover: config.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
283a199268 Rover: commands_process.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
0c420f931f Rover: commands_logic.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
d68c7f935b Rover: commands.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
f32de5e21b Rover: Steering.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
84f70f722d Rover: Rover.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
0f89f6918e Rover: Parameters.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
70d0997b73 Rover: Parameters.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
5858c84f83 Rover: Log.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
d33f67e0c4 Rover: gcs_mavlink.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Pierre Kancir
aea1c81437 Rover: APMrover2.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
murata
490571ba44 Rover: Changed if statements to switch statement. 
Rover: Changed if statements to switch statement.
 2016-12-24 08:53:20 +11:00
Georgii Staroselskii
adad75756d Rover: release-notes.txt typos in 3.1.0 
its -> it's
get's -> gets
 2016-12-24 08:51:07 +11:00
Grant Morphett
77319bb7b2 Rover: Creating Stable release 3.1.0 2016-12-22 16:33:16 +11:00
Grant Morphett
378bd84b29 Rover: Fixed a bug in the wp loiter functionality 
Had a bug where the rover would loiter for ever and not resume even
though its loiter time had expired.  This resolves that.
 2016-12-20 14:35:28 +11:00
Andrew Tridgell
0266cb61e0 Rover: fixed EKF3 logging 2016-12-19 08:07:14 +11:00
priseborough
38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
priseborough
2facebff80 Rover: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Randy Mackay
75aaf33d58 Rover: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Pierre Kancir
dec954bb0c Rover: added crash check 2016-12-07 12:46:02 +11:00
Michael du Breuil
31e0c02030 Rover: Add compass cal capability bit 2016-12-04 19:17:01 -08:00
Randy Mackay
181e4de343 Rover: resolve compiler warning 2016-11-30 18:00:16 +09:00
Randy Mackay
55f316034c Rover: include AP_Beacon 2016-11-30 17:57:04 +09:00
Randy Mackay
bdfae696ae Rover: remove call to EKF1 logging 2016-11-30 17:57:03 +09:00
Randy Mackay
0a04bb26f0 Rover: add AP_Beacon to build 2016-11-30 17:57:02 +09:00
Peter Barker
09f16fbe79 Rover: do not reset LOG_BITMASK when no CardInserted 2016-11-29 15:14:09 -08:00
Peter Barker
3a095f00f1 Rover: check CardInserted in AP_Arming 2016-11-29 15:14:09 -08:00
Peter Barker
dab0d8e6e2 Rover: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
Grant Morphett
939fb8ddd1 Rover: Creating Rover v3.1.0beta6 2016-11-28 16:41:26 +11:00
Grant Morphett
515ceb3ccd Rover: Added logging of the guided commands 2016-11-28 12:00:03 +11:00
murata
bbf0cfb564 APMrover2: Change from printf statement to print, println statement. 2016-11-25 16:00:30 -08:00
Pierre Kancir
5ed9d22bf6 Rover: correct indentation and style on GCS_Mavlink 
Remove trailling whitespace, tabs, limit single line if-statement scope, add missing space
 2016-11-24 09:34:48 +11:00
Pierre Kancir
326e0f224f Rover: added SYSID_ENFORCE parameter 2016-11-24 09:34:48 +11:00
Pierre Kancir
8c0de11d6d APMrover2: remove double include stdarg.h 2016-11-23 18:47:34 +00:00
Francisco Ferreira
e870c4bf99 Rover: support MAV_CMD_ACCELCAL_VEHICLE_POS 2016-11-15 11:42:54 -08:00
Grant Morphett
5b411aef65 Rover: Fixed LOITER_UNLIM to be an active loiter 
This changes brings the LOITER commands in line so both LOITER_UNLIM
and LOITER_TIME are actively loitering.
 2016-11-13 08:26:33 +11:00
Andrew Tridgell
84179588a9 Rover: use handle_common_message() 2016-11-09 17:08:09 +11:00
floaledm
ff23658784 Rover: move AP_Frsky_Telem for waf to ardupilotwaf 2016-11-08 07:42:39 +11:00
floaledm
8739858658 Rover: redo of commit b24d850695 2016-10-30 11:46:39 -02:00
Grant Morphett
a6a9678e94 Rover: Creating 3.1.0 Beta Release 5 2016-10-30 22:50:59 +11:00
Grant Morphett
86d4fcfb32 Rover: Station Keeping is implemented via NAV_LOITER_COMMAND 
It is a very simply form of station keeping.  If a boat is
loitering on a waypoint and it gets blown off a distance
past the WAYPOINT_RADIUS it will automaticlly drive back to
the waypoint.
 2016-10-30 22:50:03 +11:00
Grant Morphett
960fd58c9c Rover: Whitespace change only 
Ran astyle over commands_logic.cpp because the file was all over the
place.  Used the Tools/CodeStyle/astylerc as the options.
 2016-10-30 21:10:33 +11:00
Peter Barker
36c0bacada Rover: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Peter Barker
f1b776e4eb Rover: change motor_active to be based on servo out rather than radio in 2016-10-29 14:53:25 +09:00
Peter Barker
cfee3b6c0e Rover: add support for ParametersG2 2016-10-29 14:53:25 +09:00
murata
a71e889f51 Rover: To nullptr from NULL. 2016-10-28 16:22:44 -03:00
floaledm
629af84ca1 Rover: update sensor status error flags independently of sending a sys_status message 2016-10-28 15:11:44 +11:00
Michael du Breuil
b5684e7eb4 Rover: Allow compass to manage buffer space for MAG_CAL 2016-10-27 14:04:34 +11:00
Grant Morphett
e88995385a Rover: Creating 3.1.0 Beta Release 4 
New MAV_CMD_NAV_SET_YAW_SPEED and
COMMAND_INT MAV_CMD_DO_SET_ROI amonst others.
 2016-10-25 08:07:23 +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
Andrew Tridgell
114b885162 Rover: fixed startup order of setting mavlink system ID 2016-10-17 09:21:20 +11:00
Andrew Tridgell
8b7c60dcd7 Rover: use handle_rc_bind 2016-10-15 21:42:38 +11:00
Andrew Tridgell
412dca1615 Rover: deprecate RC_CHANNELS_RAW 2016-10-13 21:24:13 +11:00
Michael du Breuil
8358809a02 Rover: Support GPS_RTCM_DATA 2016-10-11 11:00:36 +11:00
murata
1ece4b6f53 Rover: To add a judgment of 0 degrees longitude. 2016-10-05 08:27:14 -03:00
murata
eec491a1f9 Rover: To add a judgment of 0 degrees longitude. 2016-10-04 12:54:55 -03:00
Lucas De Marchi
b4a3e8a9c9 APMrover2: Fix use of logical op instead of bitwise op 
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
     uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
                                     ^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
 2016-09-29 11:36:23 -03:00
Pierre Kancir
c08584d219 APMrover2: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir
6cb71fef0c APMrover: uniformize verify_command 
Add better gcs message,
Add all handle message,
Reformate comments,
 2016-09-27 07:45:48 -07:00
Tom Pittenger
72da58960c Rover: log to dataflash statustext messages from my_gcs 2016-09-26 00:13:39 -07:00
Tom Pittenger
1bd882a07c Rover: frsky telem init to utilize default arguments 2016-09-25 10:42:02 -07:00
floaledm
4c4648bdf8 Rover: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
floaledm
93f2de6780 Rover: change sensor health check to prevent false positive 2016-09-22 13:56:41 -05:00
Grant Morphett
c5adb91017 Rover: Creating Beta Release 3 with recent parameter corruption fix. 2016-09-06 15:07:14 +10:00
Michael du Breuil
f1f8233220 Rover: Return RESULT_FAILED for GET_CMD_HOME if home is unset 2016-09-03 16:54:18 +09:00
Grant Morphett
b6b10505f1 Rover: New BETA release of Rover 3.1.0Beta2 2016-09-03 08:58:12 +10:00
Randy Mackay
d39190ff30 Rover: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:28:47 +09:00
Pierre Kancir
1a3fc56682 APMrover2: fix typo in parameter 2016-08-28 14:26:06 +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
Grant Morphett
df99941fc8 Rover: Added support for COMMAND_INT 
And also made DO_SET_ROI available as a COMMAND_INT as this gives us
cm accuracy rather then 1.5m when a float is used.
 2016-08-26 11:31:35 +10:00
murata
d620efbcb7 Rover: if statements is simple. 2016-08-25 12:04:38 -03:00
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
Grant Morphett
777af546e0 Rover: ensure height calcs are using the same origin. 2016-08-25 12:50:20 +10:00
Andrew Tridgell
203e0c7472 Rover: fixes for Frsky_Telem API changes 2016-08-25 10:16:19 +10:00
Andrew Tridgell
08b0ba99db Rover: fixes for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm
b5f75459f2 Rover: compatibility with revised AP_Frsky_Telem class 2016-08-25 10:16:18 +10:00
floaledm
4030851207 Rover: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
Gustavo Jose de Sousa
b8e518a533 waf: use ap_library tool 
That way we avoid recompiling source files that don't depend on vehicles.
Change notes:
- UTILITY_SOURCE_EXTS: moved to ap_library
- Task generators indexes: ap_library handles that now and in a better way
- Use of AP_STLIB_FEATURES: it doesn't make sense anymore, since the stlib
  taskgen has empty source list
- Flags and defines: passed down to ap_library through AP_LIBRARIES_OBJECTS_KW
- Set use='mavlink' in AP_LIBRARIES_OBJECTS_KW instead of calls to
  bld.ap_stlib().
 2016-08-24 10:46:23 -03:00
murata
798e678615 Rover: By multiple bit synthetic, can this method once access. 2016-08-21 16:02:02 +10:00
Peter Barker
85c58e30ec Rover: remove unused defines 2016-08-18 11:20:16 +10:00
Peter Barker
44791268ac Rover: use SPEED_CRUISE define from config.h 2016-08-18 11:20:16 +10:00
Peter Barker
6d98dd5233 Rover: add dataflash as a bit for the mavlink SYS_STATUS message 2016-08-11 17:48:44 -03:00
Andrew Tridgell
a0d4feb216 Rover: changed startup order 
this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
 2016-08-10 19:54:01 +10:00
Gustavo Jose de Sousa
f2dec971e7 waf: add "ap_" prefix to keywords "libraries" and "vehicle" 
As an effort to keep things specific to ardupilot API in the build system
consistent and easy way to identify.
 2016-08-01 22:04:16 -03:00
Lucas De Marchi
3223a1a542 APMrover2: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
mirkix
db665e6de7 APMrover2: Fix filename in header 2016-07-25 19:38:02 +09:00
Andrew Tridgell
a4270b1bb6 APMrover2: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Grant Morphett
35422e169b Rover: Creating v3.1.0 BETA 2016-07-23 12:06:26 +10:00
Andrew Tridgell
fd0f31dc44 Rover: added AP_Button support 2016-07-22 15:01:21 +10:00
Andrew Tridgell
c3d39e9906 Rover: added PLAY_TUNE and LED_CONTROL 2016-07-22 15:00:17 +10:00
Grant Morphett
b8011fd46c Rover|Plane: Just fixing a spelling mistake. 2016-07-22 08:23:07 +10:00
Grant Morphett
57c23c7fe3 Rover: Adding support for rovers driving in Reverse. 2016-07-17 08:15:34 +10:00
Grant Morphett
d1799884b2 Rover: Implemented MAV_CMD_NAV_LOITER_UNLIM 2016-07-14 11:34:22 +10:00
Allan Matthew
1aaeceac2e Rover: support GPS_INPUT mavlink message 2016-07-12 15:35:23 +09:00
Tom Pittenger
07b22dc6eb Rover: ignore ADSB_VEHICLE packet handling 2016-06-19 11:24:33 -07:00
Randy Mackay
30cba1a59c Rover: remove unused definitions 2016-06-18 11:55:49 +09:00
Grant Morphett
95e9c1fd97 Rover: Fixing version number typo in release notes. 2016-06-17 13:56:28 +10:00
Grant Morphett
2279c20ed7 Rover: Rover Release 3.0.1 2016-06-17 13:11:04 +10:00
Tom Pittenger
098e531d53 Rover: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:08 -07:00
Tom Pittenger
698017d0b1 APMrover2: sanity check gps latlng 2016-06-01 17:38:49 -07:00
Grant Morphett
27ae46dfda Rover: Creating v3.0.1 beta release. 2016-06-01 10:45:51 +10:00
Grant Morphett
a00edcbbb6 Rover: sonar_trigger_cm of 0 will now only log 
This will enable users of Rover to plug their sonar's in (or any other
device into the 3.3v ADC) and log the data but not use the data in
navigation and obstacle avoidance.
 2016-06-01 10:19:40 +10:00
Grant Morphett
094d571196 Rover: Skid steering disarming fixes 
I have disabled steering disarming for skid steering rovers.  Its
perfectly reasonable for a skid steering rover to go hard left on the
spot without any throttle and the user wouldn't want the rover to
disarm during this procedure.
If you disarm from the GCS for a skid steering rover we also ensure
the steering channel is disabled.
 2016-06-01 10:12:02 +10:00
Andrew Tridgell
cfaacf031b Rover: use ahrs.groundspeed() in more places 2016-05-31 21:23:01 +10:00
Peter Barker
87a7907a63 Rover: move telemetry_delayed up into base class 2016-05-31 08:46:10 +10:00
Grant Morphett
35a132f74e Rover: Added throttle PID logging 2016-05-31 08:44:52 +10:00
Peter Barker
de452eb760 Rover: move adjust_rate_for_stream up 2016-05-29 19:38:50 +10:00
Peter Barker
a1c97f4585 Rover: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Pierre Kancir
ee168bee8d APMrover2 : correct arming and failsafe in skid steer mode 
Commit 3636b53#diff-e22a85a55f71f1b9b2d3f293dea61368 introduce arming for rover. But in skid steering mode it was only applied on throttle and the rover still pivot.
The patch also correct rover behaviour in case of failsafe or loitering.
 2016-05-28 14:34:43 +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
Andrew Tridgell
f61ba903dd Rover: don't stall EKF during baro cal 2016-05-24 17:00:55 +10:00
Lucas De Marchi
d773d68025 APMrover2: remove support for flymaple 2016-05-23 21:49:45 -03:00
Andrew Tridgell
01caa7388a Rover: use send_heartbeat() wrapper 2016-05-21 15:25:17 +10:00
Andrew Tridgell
99cc737693 Rover: simplify UART setup 2016-05-21 15:25:16 +10:00
Andrew Tridgell
ad7fe48991 Rover: always build with MAVLink2 headers 2016-05-21 15:25:15 +10:00