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1296 Commits

Author SHA1 Message Date
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