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52,888 Commits 71 Branches 510 Tags 784 MiB
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Author SHA1 Message Date
Henry Wurzburg
3cc75ecd38 Tools: add blimp as vehicle option in sim_vehicle 2022-04-02 14:58:53 +11:00
Henry Wurzburg
875f3f7d97 Blimp: add temporary GCS FS behavior of disarming Blimp 2022-04-02 14:57:17 +11:00
Andrew Tridgell
a01ca35939 AP_Logger: increase stack of log_io thread by 256 
This was seem on omnibusf4pro, it is a bit too close:

  log_io PRI= 59 sp=0x20015CC0 STACK=144/1656
 2022-04-01 19:56:30 +11:00
Peter Barker
2c42c056d8 Plane: correct EnableLandResponsition->EnableLandReposition 2022-03-31 20:30:55 +11:00
Mirko Denecke
c1e0e9c305 AP_HAL_ChibiOS: fix ms5611 probe for NucleoH743 2022-03-31 16:31:13 +11:00
Randy Mackay
beb13d91fb Rover: 4.2.0-beta3 release notes 2022-03-30 19:55:54 +09:00
Randy Mackay
2f03e2a75f Copter: 4.2.0-beta3 release notes 2022-03-30 19:55:45 +09:00
Randy Mackay
0dd9a8028b AR_WPNav: integrate scurve snap 2022-03-30 15:34:14 +09:00
Randy Mackay
c233f114bd AR_PosControl: fixup logging to record desired and target velocity and acceleration 2022-03-30 15:34:14 +09:00
Randy Mackay
74df1c0b22 AR_PosControl: reduce default I term to zero 2022-03-30 15:34:14 +09:00
Randy Mackay
b6af126514 Tools: relax rover sprayer test 
vehicle's speed is slightly lower when using SCurve navigation
 2022-03-30 15:34:14 +09:00
Randy Mackay
ea5e3a8ae0 Tools: rover autotests send position-target-global-int more slowly 
SCurves do not work with very fast changes of target
 2022-03-30 15:34:14 +09:00
Randy Mackay
8ff6972b7e Tools: rover autotest DriveRTL timeout increased by 10sec 2022-03-30 15:34:14 +09:00
Randy Mackay
995ff30cd6 AC_Avoid: enable slide behaviour for rover 2022-03-30 15:34:14 +09:00
Randy Mackay
f7a33a8900 Rover: navigate-to-waypoint leaves simple avoidance to position controller 
also navigate-to-waypoint may trigger tacking
 2022-03-30 15:34:14 +09:00
Randy Mackay
aea6b48d70 Rover: navigate_to_waypoint supports integrates wpnav set_nuidge_speed_max 2022-03-30 15:34:14 +09:00
Randy Mackay
5341070af4 Rover: integrate rename of AR_WPNav::set_speed_max 
range checks are no longer required because they are implemented within AR_WPNav
 2022-03-30 15:34:14 +09:00
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