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29,982 Commits 71 Branches 509 Tags 772 MiB
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17 Commits

Author SHA1 Message Date
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 b778546eda Rover: rename mode lateral acceleration and make private 2017-12-09 12:18:49 +09:00
Peter Barker 1a59b38204 Rover: use throttle rather than steering to determine target speed 2017-11-30 15:37:40 +09:00
Randy Mackay 26f50f6055 Rover: PILOT_STEER_TYPE replaces SKID_STEER_IN 
new options allow controlling vehicle's heading while reversing
skid-steering vehicles rotate in opposite direction when backing up
 2017-11-29 09:38:53 +09:00
Randy Mackay c6689fd2e1 Rover: rename calc_nav_steer to calc_steering_from_lateral_acceleration 
rename calc_lateral_acceleration to calc_steering_to_waypoint
calc_steering_to_waypoint internally calls calc_steering_from_lateral_acceleration
non-functional change
 2017-11-28 11:46:21 +09:00
khancyr c08203de17 Rover: allow pivot turn in STEERING mode 2017-11-15 13:46:58 +09:00
Randy Mackay c9927e6af6 Rover: bug fix to steering mode top speed 
Also non-functional change to calc_throttle to make call to calc_speed_nudge consistent
 2017-08-17 09:39:40 +09:00
Randy Mackay 167a856cdb Rover: remove THR_MIN, THR_MAX parameters from vehicle 
enforcing these limits is now handled by AP_MotorsUGV class
 2017-08-17 09:39:40 +09:00
Randy Mackay 57b2b02509 Rover: remove out-of-date comment 2017-08-15 20:47:19 +09:00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 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 4f5e82f406 Rover: mode fixes for reversing 2017-08-05 11:20:58 +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 2a9b1017b6 Rover: add control modes class 2017-07-21 10:13:20 +09:00