Peter Barker
903b2e381b
Rover: GCS can report simple/supersimple input modes
2019-03-19 14:39:14 +11:00
Randy Mackay
5286b6fab6
Rover: re-order auto mode implementations
2019-03-16 13:26:08 +09:00
Randy Mackay
28ac2c2600
Rover: rename guided limits start_time_ms
2019-03-15 21:18:46 +09:00
Randy Mackay
95d68b0cf5
Rover: reached_destination becomes const
2019-03-15 14:51:35 +09:00
Randy Mackay
3f8adb4e7d
Rover: guided-within-auto target moved to structure
...
also guided's limit_breached made const
also guided limit check uses is_positive
2019-03-15 14:51:35 +09:00
Randy Mackay
89f0418c0f
Rover: support do-guided-limits mission command
2019-03-15 14:51:35 +09:00
Randy Mackay
721c200bcc
Rover: support guided-within-auto
...
also adds support for sending position targets to offboard controller which is assumed to return velocity commands
2019-03-15 14:51:35 +09:00
Ebin
0f5041e873
Rover: added acro mode to MIS_DONE_BEHAVE
2019-02-16 13:55:17 +09:00
TsuyoshiKawamura
1e033e616f
Rover: Loiter in AUTO mode for boat
2019-01-10 20:42:39 +09:00
Peter Barker
ca0374a7af
Rover: do not permit copying of a Mode
2019-01-03 13:35:33 +09:00
TsuyoshiKawamura
a9781686b1
Rover: Vehicle will stop with loiter in Guided mode for boat.
2018-12-20 20:13:15 +09:00
Peter Barker
29782c3d2e
Rover: move AP_Mission object into ModeAuto class
...
This mirrors what we did for Copter
2018-12-13 13:44:46 +09:00
Randy Mackay
452382ff76
Rover: loiter provides bearing to target
2018-12-13 09:30:19 +09:00
Randy Mackay
6b5ff939f2
Rover: follow provides distance and bearing to target
2018-12-13 09:30:19 +09:00
Randy Mackay
b405286262
Rover: nav-controller-output message sourced from flight mode
...
future change will allow overriding these values so each mode can provide the best value
2018-12-13 09:30:19 +09:00
Peter Barker
86168cd180
Rover: add override keyword where required, fix bad method override
2018-11-08 11:30:12 +11:00
IamPete1
0dddc2eafe
Rover: add sailboat tacking
2018-11-01 18:04:19 +09:00
Randy Mackay
efdd3946fc
Rover: simple mode fixes
2018-09-11 16:43:17 +09:00
Ammarf
6ba5942ece
Rover: add simple mode
2018-09-11 16:43:17 +09:00
Randy Mackay
cd64ce45ac
Rover: fix calc_steering_to_heading rate_max handling
...
units mix up led to deg/s parameter value being applies as rad/s
2018-09-11 14:39:50 +09:00
Randy Mackay
03e0437c19
Rover: fix RTL when AP_RALLY disabled
2018-08-30 10:33:37 +09:00
Raouf
90fd64cf3a
Rover: add support for rally points
2018-08-30 09:54:51 +09:00
Raouf
df3b6202f5
Rover: support DO_SET_REVERSE commands in guided, RTL, SmartRTL
2018-08-22 13:36:44 +09:00
Raouf
ea62c24cef
Rover: Move set_reverse method to Mode class
2018-08-22 13:36:38 +09:00
Randy Mackay
84bda4e893
Rover: follow mode fixes and improvements
...
fix follow endless loop on enter
pass mavlink messages to AP_Follow
separate follow from guided
follow slows based on yaw error
check follow is enabled before entering follow mode
fix order in switch statement when converting from mode number to mode object
remove unused last_log_ms from follow mode
2018-07-18 15:11:09 +09:00
Ammarf
c0082271e6
Rover: implement Follow mode
2018-07-18 15:11:09 +09:00
Randy Mackay
8464e82812
Rover: set_desired_speed range checks speed
2018-06-11 09:10:35 +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
26c25daa36
Rover: add support for lateral control input
2018-05-31 13:48:17 +09:00
Peter Barker
12853f8912
Rover: correct compilation for transitive include fail
2018-05-29 14:42:02 +10:00
Ammarf
2d64a47f90
Rover: add pivot_turn_rate to g2
2018-05-21 09:48:43 +09:00
Randy Mackay
957458ca56
Rover: add get_pilot_desired_steering_and_speed
...
Also fix reversed steering response where throttle or acceleration limiting leads to throttle output being in the opposite direction from pilot's throttle input
2018-05-10 08:02:13 +09:00
Randy Mackay
6b6c0f04b6
Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise
2018-05-10 08:02:13 +09:00
Randy Mackay
c6638f66de
Rover: Loiter mode for boats
2018-05-06 16:58:00 +09:00
Randy Mackay
29e8866ea9
Rover: move avoidance into calc_throttle
...
also enable avoidance for steering and guided modes
2018-04-24 12:24:53 +09:00
Daniel Widmann
572d9ba43b
Rover: Allow switching to ACRO mode for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
Randy Mackay
343d119726
Rover: wp nav uses stopping point or prev wp for origin
2018-03-14 12:40:04 +09:00
Peter Barker
89c830e949
Rover: make SmartRTL mode decide whether to save position or not
...
This changes things to work like the Copter equivalent
2018-02-12 15:39:26 +09:00
Randy Mackay
9cba1e2907
Rover: gps check replaced by requires-position, requires-velocity
...
requires_gps is replaced by requires_position and requires_velocity
enter_gps_checks method is removed and enter method directly checks ekf flags and ekf origin
2018-01-23 11:27:56 +09:00
Randy Mackay
e2824be250
Rover: add const and comments to calc_speed_max
2018-01-12 08:15:34 +09:00
Randy Mackay
5cd500847b
Rover: rename auto_throttle to allows_arming_from_transmitter
...
This method is only used to determine whether we can arm from the transmitter so better to make its purpose more clear
Also minor comment fix to is_autopilot_mode method
2018-01-12 08:15:34 +09:00
Randy Mackay
5167ec7708
Rover: send PID to GCS regardless of mode
...
Also add some comments
2018-01-12 08:15:34 +09:00
Randy Mackay
916fe80000
Rover: remove mode class's desired-lat-accel
...
This was a duplicate of the value held in the attitude controller
2018-01-05 09:27:53 +09:00
Randy Mackay
49493fe6a2
Rover: add calc_steering_to_heading
...
removes some duplicate code in Guided and Auto
2018-01-05 09:27:53 +09:00
Randy Mackay
dc283e9c26
Rover: re-order calc_steering declarations to match .cpp file
2018-01-04 14:07:55 +09:00
Randy Mackay
4958298a75
Rover: fix auto mode distance_to_destination
2017-12-09 12:52:35 +09:00
Randy Mackay
b778546eda
Rover: rename mode lateral acceleration and make private
2017-12-09 12:18:49 +09:00
Randy Mackay
8eb991b610
Rover: boats say active at destination in auto
...
previously the user would use the LOITER_UNLIMITED or LOITER_TIME mission commands to specify that the vehicle should remain active at the destination. This was cumbersome and not the best way to specify this behaviour because these two commands are valid for regular rovers that should not try to remain active at the destination.
2017-12-08 08:48:05 +09:00
Randy Mackay
57067fb8bc
Rover: add WP_SPEED and RTL_SPEED
...
This separates the default/maximum speed used in Auto, Guided, RTL and SmartRTL from the CRUISE_SPEED which is used as the base for the speed-to-throttle controller (along with CRUISE_THROTTLE)
2017-12-07 07:29:10 +09:00
Randy Mackay
22ef276484
Rover: add const to mode::speed_error
2017-12-07 07:29:10 +09:00
