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1456 Commits

Author SHA1 Message Date
Randy Mackay 1d92ec5724 Rover: set-position-target message processing only checks xy fields 2017-12-05 12:15:31 +09:00
khancyr 9299943347 Rover: adjust setpoint_velocity handling 2017-12-05 12:14:46 +09:00
Randy Mackay 87658e6a07 AP_MotorsUGV: add MOT_THST_EXPO to scale output to motors 2017-12-04 09:53:06 +09:00
Randy Mackay bee8741b60 AP_MotorsUGV: order methods in cpp file to match h 
non-functional change
 2017-12-04 09:53:06 +09:00
Randy Mackay 865fb91676 Rover: add rpm to WENC dataflash logging 2017-12-04 09:53:06 +09:00
Peter Barker 1d2ec9054b Rover: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Randy Mackay 0c6afac5c6 Rover: allow mode to be set from ch7 switch 2017-12-01 21:59:55 +09:00
Randy Mackay ed558dd9a0 Rover: play sad tune when arming fails 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
Randy Mackay 8eb58b266a Rover: remove unused failsafe_throttle_suppress method 2017-12-01 21:59:55 +09:00
Randy Mackay 8043c0f638 Rover: reduce arming delay to 2 sec 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 86ce3f2b32 Rover: add SmartRTL library to build 2017-12-01 09:28:56 +09:00
Randy Mackay 9f94875228 Rover: mode class gets set_desired_location_NED 2017-12-01 09:28:56 +09:00
Randy Mackay 6d472376bb AP_MotorsUGV: do not limit just because of saturation 
steering and throttle limit flags should only be set when there is no point in the caller passing in higher values because it will not result in an increased response.  In the case of saturation, higher inputs will still result in a higher response.
 2017-11-30 20:13:11 +09:00
Peter Barker 5612292802 Rover: allow vehicle to be armed in manual with no GPS 2017-11-30 15:41:50 +09:00
Peter Barker 1a59b38204 Rover: use throttle rather than steering to determine target speed 2017-11-30 15:37:40 +09:00
Peter Barker 68800a52f5 Rover: move RC failsafe check up 
Both steering and acro modes can benefit from this check
 2017-11-29 17:35:44 +09:00
Randy Mackay 69dc68d621 Rover: re-order acro mode to add early return 
non-functional change
 2017-11-29 14:03:43 +09:00
Randy Mackay 060f1d36dd Rover: allow aux switch to record waypoints when not in auto-mode 
this reduces the changes required when adding new modes
 2017-11-29 14:03:43 +09:00
Peter Barker 45d76bdf25 Rover: add name4() to Mode and use it for AP_Notify calls 2017-11-29 14:03:43 +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 5b7cd31221 Rover: send steering PID tuning to GCS in most modes 
Using manual_steering and auto_throttle is not perfectly correct because we will send steering rate PID info in HOLD mode but will not send throttle PID info in Steering mode
 2017-11-29 09:38:53 +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
Randy Mackay fa7c56a110 Rover: minor comment fix 2017-11-28 10:38:19 +09:00
Daniel Widmann 8f1857759f AP_MotorsUGV: allow larger MOT_SLEWRATE values 2017-11-28 09:12:18 +09:00
Randy Mackay 78275ec4a1 AP_MotorsUGV: throttle slew updates motor limit flags 
this ensure I-term build-up doesn't happen when the slew
causes the throttle to react slowly
 2017-11-28 09:12:18 +09:00
Andrew Tridgell 01c4e51d08 Rover: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Randy Mackay a7fd353f14 Rover: add comment to unused param enum entries 2017-11-27 20:40:35 +09:00
Randy Mackay 6d805b64b6 AP_MotorsUGV: remove access to enable/disable throttle slewing 2017-11-27 14:31:20 +09:00
Randy Mackay 23028a659b Rover: slew throttle in all modes 2017-11-27 14:31:20 +09:00
Randy Mackay 822c4b6dca Rover: remove set of slew for motor test 
The motor library test function does not attempt to implement slewing so setting this is not necessary
 2017-11-27 14:31:20 +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
Peter Barker 9272c10043 Rover: use short descriptions for mission item types 2017-11-27 10:28:24 +09:00
Randy Mackay b60cb536ab Rover: RTL within auto mode 2017-11-23 10:20:19 +09:00
Randy Mackay 14d9e932ab Rover: allow disarming from transmitter on skid-steering vehicles 2017-11-23 09:07:04 +09:00
Peter Barker bf6b3a72bc Rover: support for units on fields 2017-11-23 10:40:30 +11:00
khancyr 279a57dc10 APMrover2: fix servo_out to GCS message 2017-11-21 20:23:55 +09:00
khancyr 005002736b AP_MotorsUGV: fix MOT_SLEWRATE parameter description 2017-11-21 20:02:20 +09:00
Andrew Tridgell d57f307032 Rover: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Peter Barker c00a4f3bb2 Rover: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker baf82cec22 Rover: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
khancyr c08203de17 Rover: allow pivot turn in STEERING mode 2017-11-15 13:46:58 +09:00
André Kjellstrup aab22d7dad Rover: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Randy Mackay 7e2214c2be Rover: simplify logic for lateral-accel override during use-pivot-steering 
It was theoretically possible that the lateral-acceleration would not be overwritten if the yaw-error-cd was exactly zero
 2017-11-08 17:15:59 +09:00
khancyr 2b0645d6a1 Rover: get_throttle_out calls do not require skid-steering arg 2017-11-08 15:45:43 +09:00
Daniel Widmann bc7cf97b4e Rover: don't use GPS speed to detect reversing 
instead pass reverse to attitude controller based on desired speed
 2017-11-08 14:37:59 +09:00
Daniel Widmann ac7e76cc43 Rover: enable pivot turns in auto mode 2017-11-08 14:35:00 +09:00
Pierre Kancir 4d38eb85a1 APMRover2: Add support of MANUAL_CONTROL msg 2017-10-31 09:31:05 +09:00
Randy Mackay 7fb4f17ad9 Rover: 3.2.0-rc2 release notes 2017-10-28 15:16:11 +09:00
Peter Barker 2d0a23fcc8 Rover: call ins's periodic function 2017-10-27 16:33:45 +11:00
khancyr 74d5767e25 Rover: Fix slew rate range 2017-10-26 19:44:43 +09:00
Randy Mackay 2ef1e8e4c2 Rover: fix PID desired and achieved reporting 2017-10-26 19:44:18 +09:00
Randy Mackay ea70755f00 Rover: fix speed nudge 
fix bug when target speed was exactly zero which caused nudge to be a large negative value
 2017-10-26 19:44:07 +09:00
Randy Mackay fb9f695d2f Rover: fix use-pivot-steering 
absolute yaw error should be used
 2017-10-26 19:43:55 +09:00
Randy Mackay fb944322c7 Rover: minor fix to disarm logic 
check should use logical and instead of bitwise and
 2017-10-26 19:43:48 +09:00
Randy Mackay 2c568f8046 Rover: minor parameter description change 
non-functional change
 2017-10-26 19:43:42 +09:00
Randy Mackay 9f67d2a88d Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped 2017-10-26 19:43:36 +09:00
Tom Pittenger f7d07fc146 Rover: always log MODE and include reason when logging is enabled 2017-10-25 21:18:29 +11:00
Andrew Tridgell f25e8631ef Rover: support simple accelcal 2017-10-10 10:57:38 +11:00
Michael du Breuil 4f83d39b5e Rover: Report GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi e98ccb9ae6 ArduRover: use static method to construct controllers 2017-09-26 03:01:21 +01:00
Lucas De Marchi bfd13dfe87 global: use static method to construct AP_AHRS_DCM 2017-09-26 03:01:21 +01:00
Lucas De Marchi beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi 18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi 13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi 72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi 5ec1430726 APMrover2: use static method to construct AP_Arming_Rover 2017-09-26 03:01:21 +01:00
Lucas De Marchi b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi 9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi 53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi 62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi 8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi 91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi ad05e0a643 APMrover2: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi 27be369be7 APMrover2: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi 0c49b7a973 APMrover2: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Randy Mackay 3af5893f9e Rover: command-long DO_SET_HOME check first param is zero 2017-09-20 12:14:38 +09:00
Randy Mackay f7cb006d40 Rover: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay b1684b5377 Rover: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker b84e40a804 Rover: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
Randy Mackay 4899401679 Rover: minor comment fix 2017-09-19 10:30:15 +09:00
Randy Mackay de406da254 Rover: set home using EKF position 
previously the home position could be set from DCM
This makes the setting of home slower but more accurate
 2017-09-19 10:30:15 +09:00
Randy Mackay 894bf2a23f Rover: support SET_GPS_GLOBAL_ORIGIN message 2017-09-19 10:30:15 +09:00
Peter Barker add5eb6907 Rover: remove old DO_SET_MODE support 
We no longer support setting modes except via custom-modes
 2017-09-19 01:24:11 +01:00
Peter Barker 25a32c93f2 Rover: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Peter Barker b5d234aa64 Rover: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 640b2b7a13 Rover: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker 85ac69f701 Rover: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker d98c427514 Rover: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
khancyr 2be28ddb1e Rover: fixup cpu failsafe 
remove copying of rc input to servo output
disarm after 2 seconds
 2017-08-26 13:13:18 +09:00
Randy Mackay d525c0bffb Rover: 3.2.0-rc1 release notes 2017-08-25 14:50:48 +09:00
Randy Mackay 78a5e4500f Rover: send GCS warning when cruise learning fails to start 
Also const-ified some variables, added some brackets and comments
 2017-08-25 14:05:23 +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
Randy Mackay 3adfb0e77d Rover: replace int with uint8_t 
non-functional change
 2017-08-25 14:05:23 +09:00
Randy Mackay 82e61d7198 Rover: remove unused throttle_failsafe_active method 2017-08-25 14:05:23 +09:00
khancyr 4ab11027a7 Rover: remove unused mavlink_delay(uint32_t ms) 2017-08-24 20:41:16 +09:00
khancyr 4c977f16ce Rover: reduce ADC warm up time 2017-08-24 20:41:16 +09:00
khancyr 2f1cc5ddfc Rover: support brushed motor on normal rover 2017-08-24 20:09:47 +09:00
khancyr 25b1307400 Rover: solve servo reverse in brushed configuration 2017-08-24 20:05:27 +09:00
Peter Barker 4fc31cf80d Rover: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Randy Mackay 7a37a7f921 Rover: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Randy Mackay 3f1271214e Rover: rename MotorsUGV pwm type to brush-with-relay 2017-08-22 10:09:13 +09:00
khancyr 46e6057493 Rover: solve servo reverse in brushed configuration 2017-08-22 10:09:10 +09:00
Peter Barker ee39ec3751 Rover: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker 92becb2875 Rover: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Randy Mackay bbb1329116 Rover: remove unused definitions 2017-08-17 11:58:07 +09:00
khancyr 2ceb29e9da Rover: use abs for int within calc_speed_nudge 
same issue resoled for log-write-nav-tuning
 2017-08-17 09:46:56 +09:00
khancyr ed19db7188 Rover: set_mode arg name to match implementation 
definition and implementation used different argument name
 2017-08-17 09:46:19 +09:00
khancyr a035950a22 Rover: minor format fix 2017-08-17 09:45:49 +09:00
khancyr 58b643c458 Rover: replace divide with multiply in calc_throttle 
non functional change
 2017-08-17 09:45:21 +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 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 c0fe1b7ec8 AP_MotorsUGV: minor comment fix 2017-08-17 09:39:40 +09:00
Randy Mackay c8eceeabb6 AP_MotorsUGV: add THR_MIN, THR_MAX parameters 2017-08-17 09:39:40 +09:00
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