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52571 Commits

Author SHA1 Message Date
Randy Mackay a5638f5699 Rover: auto, guided, rtl call wpnav.init instead of set-desired-speed 
also smart-rtl
 2022-03-30 15:34:14 +09:00
Randy Mackay 5d96804ef3 AR_WPNav: add protection against zero accel max 2022-03-30 15:34:14 +09:00
Randy Mackay a1b9fe5097 AR_WPNav: jerk time reduced to 0.1 sec 2022-03-30 15:34:14 +09:00
Randy Mackay c6dffb990f AR_WPNav: add set_nudge_speed_max 
allows pilot to override speed_max from RC input
 2022-03-30 15:34:14 +09:00
Randy Mackay 394a5fd2fc AR_WPNav: get/set_desired_speed renamed to get/set_speed_max 
set_speed_max updates position controller limits and triggers recalculation of scurves
local _desired_speed member is no longer required because max speed is held in position controller
 2022-03-30 15:34:14 +09:00
Randy Mackay 1996085282 AR_WPNav: init accepts speed max 
also remove unused set_desired_speed_to_default
also init previous leg in set_desired_location
init accepts speed but inforces minimum
 2022-03-30 15:34:14 +09:00
Randy Mackay a91025fa16 AR_WPNav: remove unused speed_min 2022-03-30 15:34:14 +09:00
Randy Mackay 537874c075 AR_WPNav: jerk_max maintained in position controller 2022-03-30 15:34:14 +09:00
Randy Mackay 54eee7d311 AR_WPNav: simplify init 2022-03-30 15:34:14 +09:00
Randy Mackay d03e801b65 AR_WPNav: remove get_accel_max, get_jerk_max 2022-03-30 15:34:14 +09:00
Randy Mackay ee317299fc Rover: sailboats enable wpnav's overspeed support 2022-03-30 15:34:14 +09:00
Randy Mackay 653afbeb15 AR_WPNav: enable_overspeed added to improve sailboat support 2022-03-30 15:34:14 +09:00
Randy Mackay 2f6e098f23 AR_WPNav: always use local calculation of cross track 
also calc_crosstrack_error may return negative values
 2022-03-30 15:34:14 +09:00
Randy Mackay c9369b05b3 Rover: auto does not set unused _reached_destination member 2022-03-30 15:34:14 +09:00
Randy Mackay a6b22e4db9 Rover: guided does not set _reached_destination member 2022-03-30 15:34:14 +09:00
Randy Mackay 147b1284c9 Rover: guided mode fix for reached_destination during wpnav 2022-03-30 15:34:14 +09:00
Randy Mackay 34447fa7a8 Rover: integrate AR_WPNav_OA 2022-03-30 15:34:14 +09:00
Randy Mackay 74889f1c7a Rover: guided integrates wpnav's support of fast updates 
also guided implements wp_bearing, nav_bearing, crosstrack_error and
get_desired_lat_accel
 2022-03-30 15:34:14 +09:00
Randy Mackay 729dfee01c AR_WPNav: pivot turns stop before turning 2022-03-30 15:34:14 +09:00
Randy Mackay e0a628bb8c AR_WPNav: add is_fast_waypoint accessor 2022-03-30 15:34:14 +09:00
Randy Mackay 0bcae12ceb AR_WPNav_OA: use wpnav's expect fast updates 2022-03-30 15:34:14 +09:00
Randy Mackay f769a18996 AR_WPNav: add set_desired_location_expect_fast_update 2022-03-30 15:34:14 +09:00
Randy Mackay 1fd9da710d AR_WPNav: add internal error if invalid destination received 2022-03-30 15:34:14 +09:00
Randy Mackay 461c5196e7 AR_WPNav: add ACCEL and JERK params and accessors 
allows users to specify a different acceleration and jerk for Auto, Guided, RTL, etc compared with manual modes (Acro, etc)
 2022-03-30 15:34:14 +09:00
Randy Mackay 47ab961f42 AR_WPNav: fix application of turn-max-g 2022-03-30 15:34:14 +09:00
Randy Mackay b1237ffe80 AR_WPNav: always pivot at corners of at least WP_PIVOT_ANGLE 2022-03-30 15:34:14 +09:00
Randy Mackay 3d048ddcc2 AR_WPNav: fix pivot activation when reversing 2022-03-30 15:34:14 +09:00
Randy Mackay 6515e71fc1 AR_WPNav: move OA path planning handling into a separate class 2022-03-30 15:34:14 +09:00
Randy Mackay 2a1013e896 AR_WPNav: set desired lat accel and crosstrack to zero when disarmed 2022-03-30 15:34:14 +09:00
Randy Mackay c66f6188ea Rover: param conversion for WP_PIVOT params 
parameters moved from WPNav to AR_PivotTurn
 2022-03-30 15:34:14 +09:00
Randy Mackay a185e78271 AR_WPNav: integrate AR_PivotTurn class 
moves pivot turn feature to separate class
also does not advance along scurve path while pivotin
 2022-03-30 15:34:14 +09:00
Randy Mackay 7225d74777 AR_PivotTurn: pivot turn controller 
also reduces default pivot speed to 60deg/sec (was 90deg/sec)
add would_active and allow activation to be forced
 2022-03-30 15:34:14 +09:00
Randy Mackay 4c6bccc8d5 Rover: incorporate mission change detector 2022-03-30 15:34:14 +09:00
Randy Mackay 315c5fb7d7 Rover: GCS_PID_MASK supports Velocity North and East 2022-03-30 15:34:14 +09:00
Randy Mackay 95c69811cb Rover: integrate position controller 2022-03-30 15:34:14 +09:00
Randy Mackay 9d629f5ecd AR_WPNav: use position controller and s-curves 2022-03-30 15:34:14 +09:00
Randy Mackay abc7bd446a AR_PosControl: rover position controller 2022-03-30 15:34:14 +09:00
Randy Mackay 8fcefb59b1 AP_Math: add Vector2f::dot 2022-03-30 15:34:14 +09:00
Andy Piper 23f8a00619 AP_HAL_ChibiOS: use narrower bitwidths for dshot and LEDs to allow more accurate prescaler calculation 2022-03-30 17:11:09 +11:00
Andy Piper fff82bed75 AP_HAL: update prescaler tests 2022-03-30 17:11:09 +11:00
Mark Whitehorn 910406e82d Plane: handle AIRBRAKE RC option 2022-03-29 22:51:10 +01:00
Peter Barker d9f819085c AP_Math: add specialisation for sq(float) 
avoids conversion to double
 2022-03-30 08:44:19 +11:00
Henry Wurzburg 479b02e5b0 HWDEF: add SLCAN OTG port, correct defaults.param errors 2022-03-29 10:43:51 +11:00
Andrew Tridgell 0879b497a4 AP_Param: fixed param class conversion code 
param class conversion was unconditionally overwriting the parameter
from the old parameter. This meant if the user has set a value in an
old firmware they could not change it in a new firmware.

I hit this with ARSPD_TYPE. I had previously set this to 0 in a
previous use of the board, and found that it kept resetting to 0 on
the new firmware when I tried to enable airspeed
 2022-03-29 10:41:33 +11:00
Andy Piper 2e52496432 bootloaders: update spracing h7 extreme bootloader 2022-03-29 10:39:35 +11:00
Andy Piper eb996f28cc AP_HAL_ChibiOS: spro H7 extreme updates. 
cannot currently use both IMUs on spro H7 extreme due to CPU load
 2022-03-29 10:39:35 +11:00
Henry Wurzburg 913afe7b4e Blimp: fix duplicate param and remove params/values not used 2022-03-29 08:37:09 +09:00
Andy Piper 63229d7eca AP_HAL_SITL: correct disable channel maths 
unilaterally write rcoutput to appease the sitl gods
 2022-03-29 10:29:31 +11:00
Andy Piper 6511a65b67 SRV_Channel: don't count disabled channels in mask and setup functions 
disable channels that are not in use
 2022-03-29 10:29:31 +11:00
Andy Piper 4fa0e275fd AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands 
make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
 2022-03-29 10:29:31 +11:00