Michael du Breuil
a1acc75e11
Rover: Support new AP_Vehicle::set_mode
2019-10-25 08:48:22 +08:00
Randy Mackay
65e4ee9e2b
Rover: minor restructure of loiter at end of rtl and srtl
2019-10-07 10:16:06 +09:00
Henry Wurzburg
0963551d23
Rover: change RTL/SRTL from circling to loitering for boats
2019-10-07 10:16:06 +09:00
Randy Mackay
0ab5ebbd9b
Rover: follow mode restores offsets to zero on exit
2019-10-07 08:30:45 +09:00
Peter Hall
e28d56f63a
Rover: use AR_WPNav get stopping location
2019-09-27 09:09:47 +09:00
Randy Mackay
6c3ce521c7
Rover: add Auto_Stop state and use for Nav_Delay
2019-08-14 10:45:29 -07:00
Tom Pittenger
1bb332382c
Rover: add support for NAV_DELAY misison item
2019-08-14 10:45:29 -07:00
Randy Mackay
93b05d7d8a
Rover: add get_desired_location method
2019-05-29 09:40:05 +09:00
Peter Barker
40f3f414cd
Rover: handle AR_WPNav failing to set desired location
2019-05-10 06:55:35 +09:00
Randy Mackay
20152dbdb7
Rover: fix logging of desired lateral acceleration
2019-05-10 06:55:35 +09:00
Randy Mackay
39418abafb
Rover: use AR_WPNAV_HEADING_UNKNOWN in place of local define
2019-05-10 06:55:35 +09:00
Randy Mackay
1f2500d268
Rover: follow uses local desired_yaw_cd
...
reducing dependency on shared _desired_yaw_cd with the hope that it can eventually be removed
also minor comment update for desired_yaw_cd
2019-05-10 06:55:35 +09:00
Randy Mackay
2b654983a9
Rover: yaw_error_cd becomes local variable in Loiter only
2019-05-10 06:55:35 +09:00
Randy Mackay
c4766ec143
Rover: remove speed_error that is never updated
2019-05-10 06:55:35 +09:00
Randy Mackay
75ba96b7a2
Rover: separate nudge from calc_throttle
...
This is required because AR_WPNav produces an acceleration adjusted desired speed meaning in rare cases where the vehicle is moving in reverse at the time auto is engaged, the desired speed may be temporarily negative as the vehicle slows. In these situations we do not want to allow the vehicle's speed to be nudged to a higher reverse speed if the pilot's throttle stick is all the way down
2019-05-10 06:55:35 +09:00
Randy Mackay
a94ebc5bc3
Rover: integrate navigation library
2019-05-10 06:55:35 +09:00
Tom Pittenger
d1f7485e14
Rover: add STICK_MIXNG param
2019-05-03 13:14:11 -07:00
Tom Pittenger
a798f9eb27
Rover: refactor motor.set_steering() to mode.set_steering()
2019-05-03 13:14:11 -07:00
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