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1558 Commits

Author SHA1 Message Date
Randy Mackay 88a230e897 Rover: DPTH message only written if range finder last read time changed 2018-08-28 09:23:38 +09:00
Randy Mackay 19d943106b Rover: pass vehicle speed to attitude control pitch control 2018-08-27 16:44:33 +09:00
Randy Mackay 5aa1286344 Rover: report left and right wheel control PID 2018-08-27 16:44:33 +09:00
Randy Mackay e0fa829665 Rover: pitch PID_TUNING sends degrees 
also send FF although it is rarely used
 2018-08-27 16:44:33 +09:00
Randy Mackay db611e074c Rover: include wheel-rate-control 2018-08-27 16:44:33 +09:00
Randy Mackay 85ac24d96e Rover: update wheel encoders at 50hz 2018-08-27 16:44:33 +09:00
Randy Mackay 69541fc89c AP_MotorsUGV: use wheel-rate-control for skid steering vehicles 2018-08-27 16:44:33 +09:00
Randy Mackay a5e28f0729 Rover: balancebot_pitch_control method removes unused armed arg 
Also remove constraint on throttle output (this is handle in the AP_MotorsUGV library
Also move balance bot declarations to alphabetical order within Rover.h
 2018-08-27 16:44:33 +09:00
Randy Mackay 961aab7425 Rover: balance bot passes motor limits to pitch control 2018-08-27 16:44:33 +09:00
Randy Mackay 9ae9f84498 Rover: fix G_Dt when SCHED_LOOP_RATE increased 
This fixes a bug in the G_Dt calculation which is used in the motors library and PID controllers.  The issue occurred in cases where the ahrs_update was not being run which could happen because it's estimated time was too long.
This also properly runs the critical functions (update ahrs, run flight mode code, send outputs to motors) at up to 400hz
 2018-08-25 17:50:15 +10:00
Randy Mackay 473e8d18a1 Rover: reduce scheduler estimated time for gcs tasks 2018-08-24 15:30:50 +09:00
Pierre Kancir 3ef910ff11 Rover: fix initial target when setting Guided 2018-08-22 21:02:40 +09:00
Randy Mackay 8b9b1fdb66 Rover: set reverse to false on entering a mode 2018-08-22 14:25:30 +09:00
Randy Mackay 289fe6c391 Rover: minor fixes for reversed handling 2018-08-22 14:25:22 +09:00
Raouf df3b6202f5 Rover: support DO_SET_REVERSE commands in guided, RTL, SmartRTL 2018-08-22 13:36:44 +09:00
Raouf 80753430e8 Rover: Accept DO_SET_REVERSE command 2018-08-22 13:36:41 +09:00
Raouf ea62c24cef Rover: Move set_reverse method to Mode class 2018-08-22 13:36:38 +09:00
Michael du Breuil 84baaea46d Rover: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
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
Randy Mackay c028aa8dad Rover: fix compiler warning in RC_Channel 2018-08-11 11:23:35 +09:00
Ammarf d665abccde Rover: add output tests for omni frames 2018-08-08 17:07:50 +09:00
Raouf f0185cb79b Rover: Add loiter behaviour parameter 2018-08-08 07:17:13 +09:00
Ammarf 8308646c5e Rover: change omniplus motor order 2018-08-08 07:15:37 +09:00
Ammarf 430ed9bd3d Rover: add custom config support 2018-08-07 10:01:32 +09:00
Peter Barker 2365cdf90a Rover: remove min-max-configured pre-arm checks 2018-08-07 09:45:09 +10:00
Randy Mackay 86634c2cca Rover: log desired pitch in ATT message 2018-08-06 11:30:22 +09:00
Randy Mackay 0722c6a265 Rover: minor format fix to GCS_MAVLink.cpp 2018-08-06 11:30:22 +09:00
Randy Mackay e71dc9307e Rover: add Pitch to GCS_PID_MASK param description 2018-08-06 11:30:22 +09:00
Randy Mackay e867ef74cc Rover: balance bots log pitch PID 2018-08-06 11:30:22 +09:00
Randy Mackay 936dca7531 Rover: remove compass accumulate 2018-08-06 11:05:34 +10:00
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 5d923aed85 Rover: remove dead gcs failsafe code 
Also use rc().has_valid_input() before using radio for trim
 2018-08-02 15:21:03 +09:00
Peter Barker e501ba203f Rover: rename control_modes.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Randy Mackay fada9f1990 Rover: version to 3.5.0-dev 2018-08-01 20:23:24 +09:00
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
Michael du Breuil f4d2014b56 Rover: Update notify initilization 2018-08-01 09:22:09 +10:00
Randy Mackay 315a33ed10 Rover: 3.4.2 release notes 2018-07-30 14:37:55 +09:00
murata c705d3d816 Rover: Modify indentation (NFC) 2018-07-30 08:17:53 +09:00
Ebin 6dcab4e87b Rover: support balance bot in AUTO mdoe 2018-07-28 08:44:18 +10:00
Randy Mackay f7f4b43683 Rover: 3.4.2-rc1 release notes 2018-07-23 17:15:33 +09:00
Peter Barker 24ef1a61b3 Rover: remove old AP_Menu include 2018-07-23 14:20:22 +09:00
Randy Mackay 82aba6fe56 Rover: guided heading-and-speed control slows using yaw error 2018-07-18 15:11:09 +09:00
Randy Mackay 5dc4b8e66d Rover: guided mode slows to stopping point on init 2018-07-18 15:11:09 +09:00
Randy Mackay 77598f72d1 Rover: remove redundant set_steering calls from Guided 
steering is centered within the stop_vehicle method
 2018-07-18 15:11:09 +09:00
Randy Mackay 3b7e84ce7a Rover: calc_steering_to_heading updates yaw error 
this allow the vehicle's speed to be reduced based on the heading error
 2018-07-18 15:11:09 +09:00
Randy Mackay 84bda4e893 Rover: follow mode fixes and improvements 
fix follow endless loop on enter
pass mavlink messages to AP_Follow
separate follow from guided
follow slows based on yaw error
check follow is enabled before entering follow mode
fix order in switch statement when converting from mode number to mode object
remove unused last_log_ms from follow mode
 2018-07-18 15:11:09 +09:00
Ammarf c0082271e6 Rover: implement Follow mode 2018-07-18 15:11:09 +09:00