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1514 Commits

Author SHA1 Message Date
Randy Mackay ef2223a712 Rover: integrate attitude control change to steering output and scaling 
steering output is always positive for clockwise
steering is scaled in motors library meaning we do not need to tell attitude controller about skid-steering or vectored-thrust
 2018-05-10 08:02:13 +09:00
Randy Mackay 0830e057e0 Rover: manual mode outputs unscaled steering 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 a061203eaf Rover: pass ground speed to motors lib for scaling of steering 2018-05-10 08:02:13 +09:00
Randy Mackay d018a9334e AP_MotorsUGV: add get_slew_limited_throttle 
required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
 2018-05-10 08:02:13 +09:00
Randy Mackay 3db2cc700e AP_MotorsUGV: positive steering always rotates vehicle right 
also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
 2018-05-10 08:02:13 +09:00
Randy Mackay 8137001a86 AP_MotorsUGV: minor comment fix 2018-05-10 08:02:13 +09:00
Peter Barker b38d23d542 Rover: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker a692acad81 Rover: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker a78fe0896f Rover: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Randy Mackay 468fc26e31 Rover: version to 3.4.0-dev 2018-05-09 13:32:50 +09:00
Randy Mackay ef23672a76 Rover: 3.3.1-rc1 release notes fix 
the pivot turn change was removed just prior to release
 2018-05-09 13:11:29 +09:00
Randy Mackay 3860141da8 Rover: 3.3.1-rc1 release notes 2018-05-09 12:55:08 +09:00
Ammarf de4e74b910 Rover: added comments to output_omni 2018-05-09 12:50:45 +09:00
Ammarf aca2c596b4 Rover: Use output_throttle for omni rover motor output 2018-05-09 12:50:45 +09:00
Ammarf d7e01d83d6 Rover: added is_omni_rover function 2018-05-09 12:50:45 +09:00
Randy Mackay 40a8e0de09 Rover: default BRD_SAFETYOPTION to to allow disarming with safety switch 2018-05-09 08:02:21 +10:00
Peter Barker 121cfc5b4c Rover: AP_RSSI is included for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker 9e1811027d APMrover2: move try_send_message handling of RC_CHANNELS_RAW up 2018-05-08 12:33:32 +01:00
Peter Barker 1bc208584f Rover: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker 25c2efb3ae Rover: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Randy Mackay 8108931ee0 Rover: 3.3.0 release notes 2018-05-07 17:35:50 +09:00
Andrew Tridgell a575608110 Rover: fixed build warnings 2018-05-07 11:43:23 +10:00
Randy Mackay c6638f66de Rover: Loiter mode for boats 2018-05-06 16:58:00 +09:00
Randy Mackay 341d75e0c9 AP_MotorsUGV: force throttle to zero when disarmed 2018-05-06 16:58:00 +09:00
Randy Mackay c69f7bb1d0 AP_MotorsUGV: consolidate parameter sanity checks 2018-05-06 16:58:00 +09:00
Randy Mackay c4804e4576 Rover: remove redundant avoidance call from steering 2018-05-06 16:58:00 +09:00
Peter Barker 0b1091231c Rover: remove rcmap member from AP_AdvancedFailsafe 
Also correct constructor for barometer

Also make it compile again
 2018-05-05 18:06:31 +09:00
Randy Mackay feb9cfc390 Rover: reduce TURN_MAX_G default to 0.6 2018-04-26 14:17:04 +09:00
Andrew Tridgell c941d72ad1 Rover: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil da9053655b Rover: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
Randy Mackay 8119c537c7 Rover: integrate vectored thrust support 2018-04-24 19:57:19 +09:00
Randy Mackay 38b79cf0bc AP_MotorsUGV: support vectored thrust 
steering scaled down as throttle increases
 2018-04-24 19:57:19 +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
night-ghost 2aee8d1018 APMrover2: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay 8fa1700d02 Rover: 3.3.0-rc1 release notes 2018-04-19 17:20:38 +09:00
Randy Mackay 87eef9051f Rover: increase default pivot turn angle to 60deg 
pivoting at only 30degrees of error could lead to endless twitching back and forth for poorly tuned rovers
 2018-04-19 16:32:48 +09:00
Peter Barker d66cb1dda0 Rover: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker e73a02343a Rover: GPS now logs its own data 2018-04-18 13:50:55 +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
Daniel Widmann e782ce2b51 Rover: Allow ACRO mode for skid steer rovers without GPS 2018-04-13 09:12:03 +09:00
Peter Barker 63e8fffbe4 Rover: Baro does its own dataflash logging now 2018-04-12 19:12:12 +01:00
Michael du Breuil 05173f24c6 Rover: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Michael du Breuil 3bad3b2e68 Rover: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay da619e8aa6 Rover: 3.2.3 release notes 2018-04-09 09:04:30 +09:00
Andrew Tridgell 4f6240ee8a Rover: handle oneshot125 separately 2018-04-07 09:10:29 +10:00
Andrew Tridgell 4350cee7cf Rover: added mask to set_output_mode() 2018-04-07 09:10:29 +10:00
Randy Mackay f7a168478d Rover: integrate attitude control's get_steering_out_heading 2018-04-05 12:14:59 +09:00
Randy Mackay e8070a5cb3 Rover: pass waypoint radius to L1 as min dist along track 2018-04-05 12:14:59 +09:00
Randy Mackay 41bd79a387 Rover: pivot-turn uses heading controller 2018-04-05 12:14:59 +09:00
Peter Barker e74d07ff15 Rover: remove wrapper for Log_Write_Beacon 2018-04-04 16:20:33 +09:00
Francisco Ferreira b2af1f1e05
Rover: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker a45e3cba15 Rover: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Randy Mackay c05d239069 Rover: remove throttle scaling dependency on throttle range 2018-04-03 10:42:39 +09:00
Randy Mackay fa20fd695f Rover: use throttle_min param as output deadzone 2018-04-03 10:42:39 +09:00
Randy Mackay b9e32d1f44 Rover: reduce expected times in scheduler table 2018-04-03 08:40:31 +09:00
Peter Barker c10f404b12 Rover: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker b407a4eed8 Rover: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker 762b31b147 Rover: create a preflight calibration function 
Some functionality has moved up.
 2018-04-02 23:25:05 +01:00
Peter Barker db7ce9aba2 Rover: use ahrs singleton for SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay 39bade1f4a Rover: 3.2.3-rc2 release notes 2018-04-02 12:01:45 +09:00
Randy Mackay c923158cc9 Rover: 3.2.3-rc1 release notes 2018-04-02 11:11:13 +09:00
nicknunno 8888adbfd4 Rover: TURN_MAX_G param desc update for range and increment 2018-04-02 09:13:25 +09:00
Michael du Breuil b761a57da3 Rover: Support new battery interface 2018-03-27 22:12:21 +01:00
Peter Barker 57ed822db0 Rover: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Peter Barker 3c58eca0ab Rover: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Randy Mackay 96ae9cef14 Rover: send correct mav-type for boats 2018-03-22 09:11:52 +09:00
Randy Mackay 489551c9a4 Rover: 3.2.2 release notes 2018-03-19 19:11:53 +09:00
Peter Barker bb7bed0614 Rover: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker 7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker 9d0da4a71f Rover: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker ceb64fb7d9 Rover: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay 30ba463f42 Rover: minor comment fix to acro 
non-functional change
 2018-03-15 09:58:24 +09:00
Randy Mackay 00353c7a06 Rover: avoid divide by zero in desired speed at waypoint calcs 2018-03-14 12:40:04 +09:00
Randy Mackay 86c39c0314 Rover: run update_mission at 50hz 2018-03-14 12:40:04 +09:00
Randy Mackay 343d119726 Rover: wp nav uses stopping point or prev wp for origin 2018-03-14 12:40:04 +09:00
Randy Mackay 073d9519ca Rover: version to ArduRover V3.3.0-dev 2018-03-12 16:11:37 +09:00
Randy Mackay e3f70119fe Rover: fix two-paddle input decoding 
steering output was twice what it should be.  full steering (i.e. 4500 or -4500) should occur when one paddle is up and the other is completely down
 2018-03-12 14:39:13 +09:00
Peter Barker 81ba037582 Rover: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 1f772c05f4 Rover: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Randy Mackay dcfe104163 Rover: reduce CRUISE_SPEED default to 2m/s 
based on user logs most rovers max speed is less than 4m/s so this default is closer to the average
 2018-03-09 13:19:21 +09:00
Randy Mackay 1baa6eb049 Rover: 3.2.2-rc1 release notes 2018-03-08 16:24:03 +09:00
Randy Mackay 4e8399ca3f Rover: acro and steering steer even with target speed of zero 2018-03-08 14:45:43 +09:00
Peter Barker 78ecf55fec Rover: use AP::ahrs() for GCS_MAVLink 2018-03-07 12:34:39 +00:00
night-ghost bab54ea647 Rover: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
Andrew Tridgell f190ca0867 Rover: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker 90d26a5100 Rover: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell 80c45a7431 Rover: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker 7b6bc4adf1 Rover: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker 55c27dfc56 Rover: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker b2e2b91d7e Rover: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker d9bb546048 Rover: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker 211e7416a9 Rover: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker 9511e72113 Rover: use PerfInfo for performance monitoring 2018-02-13 17:15:05 +11:00
Randy Mackay 24b8ed48b6 Rover: global-pos-int uses vel from EKF instead of GPS 2018-02-13 08:52:48 +09:00
Randy Mackay f47e65822f Rover: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Peter Barker df304c5e6b Rover: remove shims used in scheduler table 2018-02-12 15:39:26 +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
Andrew Tridgell 65308f9411 Rover: removed compass learn_offsets() 2018-02-08 17:36:33 +11:00
Randy Mackay 0da8ff6b2e Rover: boats always navigate when outside waypoint radius 2018-02-07 07:33:11 +09:00
Michael du Breuil 2e9e91b3a3 Rover: Move battery logging to AP_BattMonitor 2018-02-06 00:11:32 +00:00
murata e94bfc7ee0 Rover: delete \n from the log using gcs().send_text 2018-02-02 09:38:36 +09:00
Randy Mackay 0626d105ed Rover: version 3.2.1-dev fix 2018-01-29 19:37:46 +09:00
Randy Mackay b459e7fa7f Rover: 3.2.1 release notes 2018-01-29 19:35:46 +09:00
Randy Mackay a6ff2cacdd Rover: 3.2.1-rc1 release notes 2018-01-24 12:09:54 +09:00
Randy Mackay a5d7b8bb19 Rover: remove unused definition 2018-01-23 15:52:39 +09:00
Randy Mackay 2748d4d0fe Rover: arming checks for GPS use requires_position and velocity 2018-01-23 11:27:56 +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 509c7e2a8f Rover: add object avoidance to steering and acro modes 2018-01-22 17:18:41 +09:00
Randy Mackay 2320bfb637 Rover: add AC_AttitudeControl to build 
This is required only because the static function sqrt_controller is within this library.
 2018-01-22 17:18:41 +09:00
Randy Mackay 489c42bdff Rover: add avoidance library 2018-01-22 17:18:41 +09:00
khancyr 5503a0069d Rover: add proximity library 2018-01-22 17:18:41 +09:00
khancyr c3fb985ec5 Rover: add fence support 2018-01-22 17:18:41 +09:00
Dylan Herman c14af79975 Rover: now sends SCALED_PRESSURE msg 2018-01-22 10:04:57 +09:00
Dylan Herman 9d7eb188d1 Rover: enter Hold on failure to enter RTL fs action 2018-01-19 09:26:45 +09:00
Dylan Herman f3b794f698 Rover: Add SmartRTL failsafe action 
Add failsafe actions SmartRTL or RTL and SmartRTL or Hold
 2018-01-19 09:26:45 +09:00
Randy Mackay 6ce9b47807 Rover: calc_speed_nudge honours max speed even in reverse 
calc_speed_nudge allows the pilot to increase the speed of the vehicle including cases when the vehicle is in reverse.  This fixes the nudging code so the pilot-nudged throttle does not surpass the vehicle's maximum speed even in reverse.
Thanks to  pavloblindnology for finding this!
 2018-01-19 09:23:33 +09:00
Dylan Herman 3edaff0309 Rover: sets SmartRTL home after ahrs home is set 
Now uses AP_SmartRTL::set_home. It is called when arming and when GCS
requests home to be set to the current location
 2018-01-17 11:03:56 +09:00
Randy Mackay ed452c6a27 Rover: version to 3.2.1-dev 
this helps us easily determine if developer versions are from before or after the 3.2 release
 2018-01-13 17:53:18 +09:00
Randy Mackay a3b667ea24 Rover: 3.2.0 release notes 2018-01-13 15:28:58 +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 5a5be9175d Rover: 3.2.0-rc4 release notes 2018-01-05 14:02:01 +09:00
Randy Mackay 072b5187a3 Rover: steering mode reversing fix 2018-01-05 10:23:20 +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
Peter Barker 1d3e7d454a Rover: correct gps-is-healthy mode change check 2017-12-28 15:35:19 +00:00
Peter Barker 7cf2712bf1 Rover: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Randy Mackay 457c39bf1b Rover: FS_ param values changed to camel case 
Also minor comment change in crash-check failsafe
 2017-12-23 13:53:34 +09:00
Randy Mackay 241456f55f Rover: remove auto trim at startup 
Also add additional checks to auto trim
 2017-12-15 20:26:40 +09:00
Randy Mackay 6459a4de9d Rover: gyro health check uses initialised flag 
We should not be relying on the notify flags as a way to pass info around the system.  Rover's initialised flag is equivalent and more appropriate.
 2017-12-15 20:26:40 +09:00
Randy Mackay a8da459baf Rover: GPS reported healthy to GCS even without lock 
a GPS is unhealthy when it cannot be contacted.  Not having a 3D lock should not make the GPS unhealthy.
 2017-12-15 20:26:40 +09:00
Peter Barker bce9a40ab5 Rover: remove unimplemented methods 2017-12-15 13:27:14 +09:00
Andrew Tridgell 482ae876fb Rover: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Randy Mackay f6f40afcda Rover: rename control_mode_from_num to mode_from_mode_num 2017-12-12 10:39:26 +09:00
Randy Mackay c17549c7ff AP_Arming: integrate pre arm check if regular and skid steering configured 2017-12-11 11:56:12 +09:00
Randy Mackay ebe3ec88a7 AP_MotorsUGV: pre arm check if regular and skid steering configured 2017-12-11 11:56:12 +09:00
Randy Mackay 5d7e3d31c9 Rover: PM log message more consistent with Plane 2017-12-09 16:23:16 +09:00
Randy Mackay 4958298a75 Rover: fix auto mode distance_to_destination 2017-12-09 12:52:35 +09:00
Randy Mackay de196f818d Rover: log STER dataflash message regardless of mode 
It is useful to at least have the pilot's steering in request even in manual modes
 2017-12-09 12:18:49 +09:00
Randy Mackay 5f62cde550 Rover: remove throttle from NTUN logging 
Throttle is more extensively logged in the THR message
 2017-12-09 12:18:49 +09:00
Randy Mackay 9710b16cac Rover: THR dataflash logging replaces CTUN 2017-12-09 12:18:49 +09:00
Randy Mackay efae648461 Rover: STR dataflash logging gets turn rate 
also get turn rate and lat accel from attitude controller
 2017-12-09 12:18:49 +09:00
Randy Mackay 8e80490098 Rover: reporting gets lat accel from attitude control 2017-12-09 12:18:49 +09:00
Randy Mackay b778546eda Rover: rename mode lateral acceleration and make private 2017-12-09 12:18:49 +09:00
Randy Mackay df81f666df Rover: fix LOG_BITMASK parameter description 2017-12-09 12:18:49 +09:00
Randy Mackay 34c2fba9a7 Rover: boats stay active at destination in guided, rtl, smartrtl 2017-12-08 08:48:05 +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