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Rover: remove out-of-date comment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
