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70 Commits

Author SHA1 Message Date
khancyr a035950a22 Rover: minor format fix 2017-08-17 09:45:49 +09:00
Randy Mackay 348dbdaf22 Rover: fix do-nav-wp comment 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 bff74115bc Rover: remove unused distance_past_wp 2017-08-12 13:05:01 +09:00
Randy Mackay 30852d4713 Rover: auto-reversed moved to mode 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 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
khancyr 23532bf45c Rover: add reason to set_mode 2017-07-31 18:01:17 +09:00
Peter Barker 81d52c282c Rover: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
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 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
Peter Barker 07f4603533 Rover: integrate mode class 2017-07-21 10:13:20 +09:00
Peter Barker 2692ee22d3 Rover: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 130ad52a22 Rover: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker 9509f7f1bf Rover: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
khancyr 8ab3e83a3c Rover: use float qualifier and functions 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
Randy Mackay 584974fd74 Rover: set home from ekf position 2017-06-14 09:12:20 +09:00
Pierre Kancir f725e9f2b5 APMRover2: correct some style after addition of velocity controler 2017-05-04 19:53:21 +10:00
Pierre Kancir 670e7b7914 ROVER: put all guided param in one structure 2017-05-04 19:53:21 +10:00
Pierre Kancir 045d171ab9 Rover: add Guided velocity controller 2017-05-04 19:53:21 +10:00
Randy Mackay c1d3384835 Rover: rename set_next_WP to set_auto_WP to clarify usage 2017-05-04 19:53:21 +10:00
Pierre Kancir 27e52695fe APMRover2: add initial support for MAV_CMD_CONDITION_YAW 2017-04-28 12:01:47 +10:00
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
Grant Morphett 304c9b6e72 Rover: Fixed a bug in reverse 
If a user was driving in reverse and when into an auto mission the
rover would try to do the whole mission in reverse.  This fixes that.
 2017-03-15 17:24:35 +11:00
Andrew Tridgell 93d6b012c2 Rover: convert to new SRV_Channel API 2017-01-12 17:39:37 +11:00
Peter Barker 61430a51b3 Rover: correct compilation when camera disabled 2017-01-02 16:17:43 +11:00
Pierre Kancir 0c420f931f Rover: commands_logic.cpp correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
Grant Morphett 378bd84b29 Rover: Fixed a bug in the wp loiter functionality 
Had a bug where the rover would loiter for ever and not resume even
though its loiter time had expired.  This resolves that.
 2016-12-20 14:35:28 +11:00
Grant Morphett 515ceb3ccd Rover: Added logging of the guided commands 2016-11-28 12:00:03 +11:00
Grant Morphett 5b411aef65 Rover: Fixed LOITER_UNLIM to be an active loiter 
This changes brings the LOITER commands in line so both LOITER_UNLIM
and LOITER_TIME are actively loitering.
 2016-11-13 08:26:33 +11:00
Grant Morphett 86d4fcfb32 Rover: Station Keeping is implemented via NAV_LOITER_COMMAND 
It is a very simply form of station keeping.  If a boat is
loitering on a waypoint and it gets blown off a distance
past the WAYPOINT_RADIUS it will automaticlly drive back to
the waypoint.
 2016-10-30 22:50:03 +11:00
Grant Morphett 960fd58c9c Rover: Whitespace change only 
Ran astyle over commands_logic.cpp because the file was all over the
place.  Used the Tools/CodeStyle/astylerc as the options.
 2016-10-30 21:10:33 +11:00
Grant Morphett 2d09db4ecb Rover: added a new form of GUIDED mode 
Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED
which has an angle in centidegrees and a speed scale and the rover
will drive based on these inputs.
 2016-10-25 08:04:01 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Pierre Kancir c08584d219 APMrover2: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir 6cb71fef0c APMrover: uniformize verify_command 
Add better gcs message,
Add all handle message,
Reformate comments,
 2016-09-27 07:45:48 -07:00
Grant Morphett b8011fd46c Rover|Plane: Just fixing a spelling mistake. 2016-07-22 08:23:07 +10:00
Grant Morphett 57c23c7fe3 Rover: Adding support for rovers driving in Reverse. 2016-07-17 08:15:34 +10:00
Grant Morphett d1799884b2 Rover: Implemented MAV_CMD_NAV_LOITER_UNLIM 2016-07-14 11:34:22 +10:00
Ricardo de Almeida Gonzaga 63f2ab38dd APMrover2: Fix typos 2016-05-13 19:20:07 -03:00
Tom Pittenger 64315bfed8 Revert "APMRover2: clipped param cmd float to zero" 
This reverts commit cbbee1149d.
 2016-04-23 23:51:33 -07:00
Tom Pittenger cbbee1149d APMRover2: clipped param cmd float to zero 2016-04-23 23:45:48 -07:00