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187 Commits

Author SHA1 Message Date
Randy Mackay db611e074c Rover: include wheel-rate-control 2018-08-27 16:44:33 +09:00
Peter Barker ca7842afac Rover: add support for Sprayer 2018-08-17 15:33:35 +09:00
Randy Mackay 011776bff2 Rover: restore param description for CH7_OPTION 2018-08-12 14:00:48 +09:00
Randy Mackay b5f045dc5f Rover: mode description in lower case 
Follow was in upper case
INITIAL_MODE was missing SmartRTL
 2018-08-12 13:41:45 +09:00
Raouf f0185cb79b Rover: Add loiter behaviour parameter 2018-08-08 07:17:13 +09:00
Ammarf 430ed9bd3d Rover: add custom config support 2018-08-07 10:01:32 +09:00
Randy Mackay e71dc9307e Rover: add Pitch to GCS_PID_MASK param description 2018-08-06 11:30:22 +09:00
Andrew Tridgell 73ccf90087 Rover: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Lucas De Marchi 00f03360bc APMrover2: kill AP_FEATURE_SAFETY_BUTTON 
This is redundant and can be just HAL_HAVE_SAFETY_SWITCH.
 2018-08-02 13:15:02 -07:00
Peter Barker 1f0908bba2 Rover: move handling of RC Switches into RC_Channel 
Rover: use base-class auxsw handling

Rover: factor out do_aux_function_change_mode

Rover: move mode number enumeration to be in Mode:: namespace

Rover: move mode switch handling to RC_Channel

Rover: rename control_modes.cpp to RC_Channel.cpp

Rover: move motor_active() to be a method on the motors class
 2018-08-01 12:11:30 +09:00
Ebin 6dcab4e87b Rover: support balance bot in AUTO mdoe 2018-07-28 08:44:18 +10:00
Ammarf c0082271e6 Rover: implement Follow mode 2018-07-18 15:11:09 +09:00
Randy Mackay b9d8f53af2 Rover: correct object avoidance parameter descriptions 2018-06-29 14:56:33 +09:00
Ebin 96d4335765 Rover: Crash check based on angle for all rover frames 2018-06-28 21:55:20 +09:00
Ebin 73e6ce18a0 Rover: Crash checks for Balance Bot 2018-06-28 21:55:20 +09:00
Ebin 6c2f18cc2f Rover: manual mode support for balancebot 2018-06-28 21:55:20 +09:00
Ebin 936ebbe1f3 Rover: Added BalanceBot as a rover frame 2018-06-28 21:55:20 +09:00
Randy Mackay 03babfdc3c Rover: fix RNGFND_TURN_ANGL param description again 2018-06-18 17:51:46 +09:00
Randy Mackay 9efa7ad635 Rover: fix RNGFND_TURN_ANGL range 2018-06-18 16:06:45 +09:00
Randy Mackay c8f4227313 Rover: remove SPEED_TURN_GAIN 
Loiter was the only mode using this, replaced with hardcoded gain.  The desired speed in Loiter also uses a hardcoded gain so this should work
 2018-06-08 09:19:25 +09:00
Peter Barker 36705af8ff Rover: create an enumeration to hold vehicle mode constants 
This gives us type-safety on the mode numbers.  This is advantageous as
some of these symbols exist with different values elsewhere in the code.
 2018-06-08 08:41:16 +09:00
Michael du Breuil 0ad2750f55 Rover: Remove software type param 2018-06-05 09:14:12 +10:00
Ammarf b95ac72d35 Rover: add LOITER to ch7 options 2018-05-24 17:59:45 +09:00
Ammarf 2d64a47f90 Rover: add pivot_turn_rate to g2 2018-05-21 09:48:43 +09:00
Randy Mackay 40a8e0de09 Rover: default BRD_SAFETYOPTION to to allow disarming with safety switch 2018-05-09 08:02:21 +10:00
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
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
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 db7ce9aba2 Rover: use ahrs singleton for SmartRTL 2018-04-02 17:16:02 +01:00
nicknunno 8888adbfd4 Rover: TURN_MAX_G param desc update for range and increment 2018-04-02 09:13:25 +09:00
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
night-ghost bab54ea647 Rover: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
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 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 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 9710b16cac Rover: THR dataflash logging replaces CTUN 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 aa38239629 Rover: add FRAME_CLASS to differentiate boats from rovers 2017-12-08 08:48:05 +09:00
Randy Mackay 57067fb8bc Rover: add WP_SPEED and RTL_SPEED 
This separates the default/maximum speed used in Auto, Guided, RTL and SmartRTL from the CRUISE_SPEED which is used as the base for the speed-to-throttle controller (along with CRUISE_THROTTLE)
 2017-12-07 07:29:10 +09:00
Randy Mackay 0c6afac5c6 Rover: allow mode to be set from ch7 switch 2017-12-01 21:59:55 +09:00
Randy Mackay b4a779aec3 Rover: add arm/disarm to ch7 switch 2017-12-01 21:59:55 +09:00
Peter Barker e38cefea8a Rover: add SmartRTL mode 
called at 3hz from scheduler
 2017-12-01 09:28:56 +09:00
Randy Mackay 04e9228fa0 Rover: add Acro mode 
ACRO_TURN_RATE allows user control of maximum turn rate
 2017-11-29 14:03:43 +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 cab972a429 Rover: reduce TURN_MAX_G default to 1.0 
This is probably still slightly too high but closer than the previous 2.0
 2017-11-27 12:25:28 +09:00
Randy Mackay 1600823b12 Rover: aux switch to learn cruise throttle and speed 2017-08-25 14:05:23 +09:00
Randy Mackay 14c74a5967 Rover: remove learning mode 
saving waypoints can be done in manual or steering mode
 2017-08-25 14:05:23 +09:00
Randy Mackay 524fe4cd82 Rover: aux switch saves waypoint in manual or steering modes 
Also refactor aux switch methods
rename LEARN_CH to AUX_CH
 2017-08-25 14:05:23 +09:00
Peter Barker 4fc31cf80d Rover: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Randy Mackay 6eceaef484 Rover: remove redundant SYS_NUM_RESETS 
this is handled by AP_Stats library
 2017-08-17 09:39:40 +09:00
Randy Mackay e2d4182c75 Rover: fix parameter conversion 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 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
Peter Barker fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Randy Mackay e79e92a789 Rover: remove unused SPEED_TURN_DIST parameter 2017-08-12 13:58:35 +09:00
Randy Mackay 66bb3e8ee0 Rover: minor formatting fix to parameters.cpp 2017-08-12 12:14:54 +09:00
Randy Mackay 96d55e0dbe Rover: fix wheel encoder parameter names 
extra underscore removed
 2017-07-27 21:57:17 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas efa59d47f2 Rover: fix FS_THR_VALUE min range 2017-07-19 20:33:07 +09:00
Randy Mackay 285653da30 Rover: fix init order to clear compile warning 
no functional change
 2017-07-19 15:26:33 +09:00
Michael du Breuil 993df82cfa APMRover: Fix bad parameter generation for AP_MotorUGV 2017-07-16 08:26:52 +10:00
khancyr 40b860e240 Rover: rename sonar to rangefinder 2017-07-14 17:40:05 +01:00
Randy Mackay ebbbe0584a Rover: integrate wheel encoder 2017-07-14 07:27:26 +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
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
Pierre Kancir c865972e9c Rover: remove skid_steer_out parameter 2017-06-24 13:17:36 +09:00
Randy Mackay 0da6e73d76 Rover: add support for visual odometry 2017-06-14 09:12:20 +09:00
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
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
karthik.desai 47ff9ddeec Rover: Added Beacon implementation 
Enabled beacon parameters
beacon updates at 50hz
Use dataflash library to log AP_Beacon msg
 2017-04-26 11:59:11 +09:00
Pierre Kancir 2eb0ed6242 APMRover2: Remove, correct some cast 2017-04-26 08:43:09 +10:00
Pierre Kancir 20cc336885 APMRover2: const correctness 2017-04-26 08:43:09 +10:00
Pierre Kancir c41e695c98 APMRover2: correct some style 2017-04-26 08:43:09 +10:00
Pierre Kancir b634fe548d APMRover2: Use c++ cast 2017-04-26 08:43:09 +10:00
Pierre Kancir d4bd61d859 APMRover2: unhide default NAVL1_PERIOD with a define 
set the correct value to param
 2017-04-15 13:48:40 +10:00
Grant Morphett cfb11729a6 Rover: Setting crash detecting to off by default. 2017-03-15 17:24:35 +11:00
Randy Mackay b8f24fba98 Rover: fix SYSID_ENFORCE parameter description 2017-02-28 15:07:59 +09:00
Andrew Tridgell fe4baf2904 Rover: setup frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker 407e251e1d Rover: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Andrew Tridgell 36cf57c0fa Rover: fixed parameter path 2017-02-06 15:12:32 +11:00
Pierre Kancir 99ba8bdc08 APMRover2: add advance failsafe 2017-01-31 17:12:37 +11:00
murata 0c813c5afa Rover: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Andrew Tridgell 9fe3eba2a0 Rover: added automatic parameter upgrade for SRV_Channel 2017-01-12 17:39:37 +11:00
Andrew Tridgell 93d6b012c2 Rover: convert to new SRV_Channel API 2017-01-12 17:39:37 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 5bf45dbffd APMrover2: publish SPEED2THR_ parameters 2017-01-07 10:32:11 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 0054df9907 APMrover2: Correct AUTO_TRIGGER_PIN Values format 
This allows simplified machine parsing of the generated XML file
 2017-01-07 10:23:56 +11:00
Pierre Kancir 70d0997b73 Rover: Parameters.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
priseborough 2facebff80 Rover: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Pierre Kancir dec954bb0c Rover: added crash check 2016-12-07 12:46:02 +11:00
murata bbf0cfb564 APMrover2: Change from printf statement to print, println statement. 2016-11-25 16:00:30 -08:00