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979 Commits

Author SHA1 Message Date
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