Randy Mackay
a061203eaf
Rover: pass ground speed to motors lib for scaling of steering
2018-05-10 08:02:13 +09:00
Randy Mackay
d018a9334e
AP_MotorsUGV: add get_slew_limited_throttle
...
required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
2018-05-10 08:02:13 +09:00
Randy Mackay
3db2cc700e
AP_MotorsUGV: positive steering always rotates vehicle right
...
also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
2018-05-10 08:02:13 +09:00
Randy Mackay
8137001a86
AP_MotorsUGV: minor comment fix
2018-05-10 08:02:13 +09:00
Peter Barker
b38d23d542
Rover: move sending of battery data up
2018-05-09 11:40:31 -07:00
Peter Barker
a692acad81
Rover: move data stream send up
2018-05-09 16:15:38 +10:00
Peter Barker
a78fe0896f
Rover: make scheduler track whether it has called the delay callback
2018-05-09 16:15:38 +10:00
Randy Mackay
468fc26e31
Rover: version to 3.4.0-dev
2018-05-09 13:32:50 +09:00
Randy Mackay
ef23672a76
Rover: 3.3.1-rc1 release notes fix
...
the pivot turn change was removed just prior to release
2018-05-09 13:11:29 +09:00
Randy Mackay
3860141da8
Rover: 3.3.1-rc1 release notes
2018-05-09 12:55:08 +09:00
Ammarf
de4e74b910
Rover: added comments to output_omni
2018-05-09 12:50:45 +09:00
Ammarf
aca2c596b4
Rover: Use output_throttle for omni rover motor output
2018-05-09 12:50:45 +09:00
Ammarf
d7e01d83d6
Rover: added is_omni_rover function
2018-05-09 12:50:45 +09:00
Randy Mackay
40a8e0de09
Rover: default BRD_SAFETYOPTION to to allow disarming with safety switch
2018-05-09 08:02:21 +10:00
Peter Barker
121cfc5b4c
Rover: AP_RSSI is included for all vehicles
2018-05-08 12:33:32 +01:00
Peter Barker
9e1811027d
APMrover2: move try_send_message handling of RC_CHANNELS_RAW up
2018-05-08 12:33:32 +01:00
Peter Barker
1bc208584f
Rover: move try_send_message of heartbeats up to GCS_MAVLINK
2018-05-07 11:30:13 -06:00
Peter Barker
25c2efb3ae
Rover: move try_send_message handling of VIBRATION up
2018-05-07 11:23:28 -06:00
Randy Mackay
8108931ee0
Rover: 3.3.0 release notes
2018-05-07 17:35:50 +09:00
Andrew Tridgell
a575608110
Rover: fixed build warnings
2018-05-07 11:43:23 +10:00
Randy Mackay
c6638f66de
Rover: Loiter mode for boats
2018-05-06 16:58:00 +09:00
Randy Mackay
341d75e0c9
AP_MotorsUGV: force throttle to zero when disarmed
2018-05-06 16:58:00 +09:00
Randy Mackay
c69f7bb1d0
AP_MotorsUGV: consolidate parameter sanity checks
2018-05-06 16:58:00 +09:00
Randy Mackay
c4804e4576
Rover: remove redundant avoidance call from steering
2018-05-06 16:58:00 +09:00
Peter Barker
0b1091231c
Rover: remove rcmap member from AP_AdvancedFailsafe
...
Also correct constructor for barometer
Also make it compile again
2018-05-05 18:06:31 +09:00
Randy Mackay
feb9cfc390
Rover: reduce TURN_MAX_G default to 0.6
2018-04-26 14:17:04 +09:00
Andrew Tridgell
c941d72ad1
Rover: remove old pde file
...
this was here for upgrading very old MissionPlanner versions. We can
remove it now
2018-04-26 14:25:01 +10:00
Michael du Breuil
da9053655b
Rover: Support new RC_Channels::read_input()
2018-04-26 08:00:09 +10:00
Randy Mackay
8119c537c7
Rover: integrate vectored thrust support
2018-04-24 19:57:19 +09:00
Randy Mackay
38b79cf0bc
AP_MotorsUGV: support vectored thrust
...
steering scaled down as throttle increases
2018-04-24 19:57:19 +09:00
Randy Mackay
29e8866ea9
Rover: move avoidance into calc_throttle
...
also enable avoidance for steering and guided modes
2018-04-24 12:24:53 +09:00
night-ghost
2aee8d1018
APMrover2: devo telemetry support (RX705/707)
2018-04-24 10:44:28 +10:00
Randy Mackay
8fa1700d02
Rover: 3.3.0-rc1 release notes
2018-04-19 17:20:38 +09:00
Randy Mackay
87eef9051f
Rover: increase default pivot turn angle to 60deg
...
pivoting at only 30degrees of error could lead to endless twitching back and forth for poorly tuned rovers
2018-04-19 16:32:48 +09:00
Peter Barker
d66cb1dda0
Rover: use AP_ServoRelayEvents singleton
2018-04-18 20:31:55 +09:00
Peter Barker
e73a02343a
Rover: GPS now logs its own data
2018-04-18 13:50:55 +09:00
Daniel Widmann
572d9ba43b
Rover: Allow switching to ACRO mode for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
Daniel Widmann
e782ce2b51
Rover: Allow ACRO mode for skid steer rovers without GPS
2018-04-13 09:12:03 +09:00
Peter Barker
63e8fffbe4
Rover: Baro does its own dataflash logging now
2018-04-12 19:12:12 +01:00
Michael du Breuil
05173f24c6
Rover: Use RC_Channels instead of hal.rcin
2018-04-11 21:47:07 +01:00
Michael du Breuil
3bad3b2e68
Rover: Check MANUAL_CONTROL target
2018-04-10 16:54:34 +01:00
Randy Mackay
da619e8aa6
Rover: 3.2.3 release notes
2018-04-09 09:04:30 +09:00
Andrew Tridgell
4f6240ee8a
Rover: handle oneshot125 separately
2018-04-07 09:10:29 +10:00
Andrew Tridgell
4350cee7cf
Rover: added mask to set_output_mode()
2018-04-07 09:10:29 +10:00
Randy Mackay
f7a168478d
Rover: integrate attitude control's get_steering_out_heading
2018-04-05 12:14:59 +09:00
Randy Mackay
e8070a5cb3
Rover: pass waypoint radius to L1 as min dist along track
2018-04-05 12:14:59 +09:00
Randy Mackay
41bd79a387
Rover: pivot-turn uses heading controller
2018-04-05 12:14:59 +09:00
Peter Barker
e74d07ff15
Rover: remove wrapper for Log_Write_Beacon
2018-04-04 16:20:33 +09:00
Francisco Ferreira
b2af1f1e05
Rover: fix method shadowing
2018-04-03 16:29:33 +01:00
Peter Barker
a45e3cba15
Rover: factor vehicle's mavlink send_heartbeat
2018-04-03 13:05:19 +01:00
Randy Mackay
c05d239069
Rover: remove throttle scaling dependency on throttle range
2018-04-03 10:42:39 +09:00
Randy Mackay
fa20fd695f
Rover: use throttle_min param as output deadzone
2018-04-03 10:42:39 +09:00
Randy Mackay
b9e32d1f44
Rover: reduce expected times in scheduler table
2018-04-03 08:40:31 +09:00
Peter Barker
c10f404b12
Rover: tidy handling of barometer calibrations
2018-04-02 23:25:05 +01:00
Peter Barker
b407a4eed8
Rover: move common calibration functions up
2018-04-02 23:25:05 +01:00
Peter Barker
762b31b147
Rover: create a preflight calibration function
...
Some functionality has moved up.
2018-04-02 23:25:05 +01:00
Peter Barker
db7ce9aba2
Rover: use ahrs singleton for SmartRTL
2018-04-02 17:16:02 +01:00
Randy Mackay
39bade1f4a
Rover: 3.2.3-rc2 release notes
2018-04-02 12:01:45 +09:00
Randy Mackay
c923158cc9
Rover: 3.2.3-rc1 release notes
2018-04-02 11:11:13 +09:00
nicknunno
8888adbfd4
Rover: TURN_MAX_G param desc update for range and increment
2018-04-02 09:13:25 +09:00
Michael du Breuil
b761a57da3
Rover: Support new battery interface
2018-03-27 22:12:21 +01:00
Peter Barker
57ed822db0
Rover: allow DataFlash to handle log sending
2018-03-26 09:22:47 +09:00
Peter Barker
3c58eca0ab
Rover: move handling of visual odometry messages up
2018-03-23 09:28:07 +09:00
Randy Mackay
96ae9cef14
Rover: send correct mav-type for boats
2018-03-22 09:11:52 +09:00
Randy Mackay
489551c9a4
Rover: 3.2.2 release notes
2018-03-19 19:11:53 +09:00
Peter Barker
bb7bed0614
Rover: move handling of get_home_position up
2018-03-19 10:32:37 +09:00
Peter Barker
7fd859da65
Plane: move home state into AP_AHRS
2018-03-19 10:32:37 +09:00
Peter Barker
9d0da4a71f
Rover: move home state into AP_AHRS
2018-03-19 10:32:37 +09:00
Peter Barker
ceb64fb7d9
Rover: use ins singleton
2018-03-16 00:37:35 -07:00
Randy Mackay
30ba463f42
Rover: minor comment fix to acro
...
non-functional change
2018-03-15 09:58:24 +09:00
Randy Mackay
00353c7a06
Rover: avoid divide by zero in desired speed at waypoint calcs
2018-03-14 12:40:04 +09:00
Randy Mackay
86c39c0314
Rover: run update_mission at 50hz
2018-03-14 12:40:04 +09:00
Randy Mackay
343d119726
Rover: wp nav uses stopping point or prev wp for origin
2018-03-14 12:40:04 +09:00
Randy Mackay
073d9519ca
Rover: version to ArduRover V3.3.0-dev
2018-03-12 16:11:37 +09:00
Randy Mackay
e3f70119fe
Rover: fix two-paddle input decoding
...
steering output was twice what it should be. full steering (i.e. 4500 or -4500) should occur when one paddle is up and the other is completely down
2018-03-12 14:39:13 +09:00
Peter Barker
81ba037582
Rover: use baro singleton
2018-03-08 21:20:05 -08:00
Peter Barker
1f772c05f4
Rover: delete correct assignment operator
2018-03-08 21:20:05 -08:00
Randy Mackay
dcfe104163
Rover: reduce CRUISE_SPEED default to 2m/s
...
based on user logs most rovers max speed is less than 4m/s so this default is closer to the average
2018-03-09 13:19:21 +09:00
Randy Mackay
1baa6eb049
Rover: 3.2.2-rc1 release notes
2018-03-08 16:24:03 +09:00
Randy Mackay
4e8399ca3f
Rover: acro and steering steer even with target speed of zero
2018-03-08 14:45:43 +09:00
Peter Barker
78ecf55fec
Rover: use AP::ahrs() for GCS_MAVLink
2018-03-07 12:34:39 +00:00
night-ghost
bab54ea647
Rover: allow AP_Stats to be optional
2018-03-02 07:23:35 +11:00
Andrew Tridgell
f190ca0867
Rover: use scheduler.get_last_loop_time_s()
2018-02-13 17:15:05 +11:00
Peter Barker
90d26a5100
Rover: eliminate perf_update scheduler table shim
2018-02-13 17:15:05 +11:00
Andrew Tridgell
80c45a7431
Rover: use filtered loop time
2018-02-13 17:15:05 +11:00
Peter Barker
7b6bc4adf1
Rover: pass log-performance-bit at init time rather than update time
2018-02-13 17:15:05 +11:00
Peter Barker
55c27dfc56
Rover: move logging of PM messages to AP_Scheduler
2018-02-13 17:15:05 +11:00
Peter Barker
b2e2b91d7e
Rover: move PERF: statustext sending into AP_Scheduler
2018-02-13 17:15:05 +11:00
Peter Barker
d9bb546048
Rover: use AP_Scheduler's loop() function
2018-02-13 17:15:05 +11:00
Peter Barker
211e7416a9
Rover: use scheduler ticks in place of mainloop_count
2018-02-13 17:15:05 +11:00
Peter Barker
9511e72113
Rover: use PerfInfo for performance monitoring
2018-02-13 17:15:05 +11:00
Randy Mackay
24b8ed48b6
Rover: global-pos-int uses vel from EKF instead of GPS
2018-02-13 08:52:48 +09:00
Randy Mackay
f47e65822f
Rover: fix global-pos-int velocity direction to NED
2018-02-13 08:52:48 +09:00
Peter Barker
df304c5e6b
Rover: remove shims used in scheduler table
2018-02-12 15:39:26 +09:00
Peter Barker
89c830e949
Rover: make SmartRTL mode decide whether to save position or not
...
This changes things to work like the Copter equivalent
2018-02-12 15:39:26 +09:00
Andrew Tridgell
65308f9411
Rover: removed compass learn_offsets()
2018-02-08 17:36:33 +11:00
Randy Mackay
0da8ff6b2e
Rover: boats always navigate when outside waypoint radius
2018-02-07 07:33:11 +09:00
Michael du Breuil
2e9e91b3a3
Rover: Move battery logging to AP_BattMonitor
2018-02-06 00:11:32 +00:00
murata
e94bfc7ee0
Rover: delete \n from the log using gcs().send_text
2018-02-02 09:38:36 +09:00
Randy Mackay
0626d105ed
Rover: version 3.2.1-dev fix
2018-01-29 19:37:46 +09:00
Randy Mackay
b459e7fa7f
Rover: 3.2.1 release notes
2018-01-29 19:35:46 +09:00
Randy Mackay
a6ff2cacdd
Rover: 3.2.1-rc1 release notes
2018-01-24 12:09:54 +09:00
Randy Mackay
a5d7b8bb19
Rover: remove unused definition
2018-01-23 15:52:39 +09:00
Randy Mackay
2748d4d0fe
Rover: arming checks for GPS use requires_position and velocity
2018-01-23 11:27:56 +09:00
Randy Mackay
9cba1e2907
Rover: gps check replaced by requires-position, requires-velocity
...
requires_gps is replaced by requires_position and requires_velocity
enter_gps_checks method is removed and enter method directly checks ekf flags and ekf origin
2018-01-23 11:27:56 +09:00
Randy Mackay
509c7e2a8f
Rover: add object avoidance to steering and acro modes
2018-01-22 17:18:41 +09:00
Randy Mackay
2320bfb637
Rover: add AC_AttitudeControl to build
...
This is required only because the static function sqrt_controller is within this library.
2018-01-22 17:18:41 +09:00
Randy Mackay
489c42bdff
Rover: add avoidance library
2018-01-22 17:18:41 +09:00
khancyr
5503a0069d
Rover: add proximity library
2018-01-22 17:18:41 +09:00
khancyr
c3fb985ec5
Rover: add fence support
2018-01-22 17:18:41 +09:00
Dylan Herman
c14af79975
Rover: now sends SCALED_PRESSURE msg
2018-01-22 10:04:57 +09:00
Dylan Herman
9d7eb188d1
Rover: enter Hold on failure to enter RTL fs action
2018-01-19 09:26:45 +09:00
Dylan Herman
f3b794f698
Rover: Add SmartRTL failsafe action
...
Add failsafe actions SmartRTL or RTL and SmartRTL or Hold
2018-01-19 09:26:45 +09:00
Randy Mackay
6ce9b47807
Rover: calc_speed_nudge honours max speed even in reverse
...
calc_speed_nudge allows the pilot to increase the speed of the vehicle including cases when the vehicle is in reverse. This fixes the nudging code so the pilot-nudged throttle does not surpass the vehicle's maximum speed even in reverse.
Thanks to pavloblindnology for finding this!
2018-01-19 09:23:33 +09:00
Dylan Herman
3edaff0309
Rover: sets SmartRTL home after ahrs home is set
...
Now uses AP_SmartRTL::set_home. It is called when arming and when GCS
requests home to be set to the current location
2018-01-17 11:03:56 +09:00
Randy Mackay
ed452c6a27
Rover: version to 3.2.1-dev
...
this helps us easily determine if developer versions are from before or after the 3.2 release
2018-01-13 17:53:18 +09:00
Randy Mackay
a3b667ea24
Rover: 3.2.0 release notes
2018-01-13 15:28:58 +09:00
Randy Mackay
e2824be250
Rover: add const and comments to calc_speed_max
2018-01-12 08:15:34 +09:00
Randy Mackay
5cd500847b
Rover: rename auto_throttle to allows_arming_from_transmitter
...
This method is only used to determine whether we can arm from the transmitter so better to make its purpose more clear
Also minor comment fix to is_autopilot_mode method
2018-01-12 08:15:34 +09:00
Randy Mackay
5167ec7708
Rover: send PID to GCS regardless of mode
...
Also add some comments
2018-01-12 08:15:34 +09:00
Randy Mackay
5a5be9175d
Rover: 3.2.0-rc4 release notes
2018-01-05 14:02:01 +09:00
Randy Mackay
072b5187a3
Rover: steering mode reversing fix
2018-01-05 10:23:20 +09:00
Randy Mackay
916fe80000
Rover: remove mode class's desired-lat-accel
...
This was a duplicate of the value held in the attitude controller
2018-01-05 09:27:53 +09:00
Randy Mackay
49493fe6a2
Rover: add calc_steering_to_heading
...
removes some duplicate code in Guided and Auto
2018-01-05 09:27:53 +09:00
Randy Mackay
dc283e9c26
Rover: re-order calc_steering declarations to match .cpp file
2018-01-04 14:07:55 +09:00
Peter Barker
1d3e7d454a
Rover: correct gps-is-healthy mode change check
2017-12-28 15:35:19 +00:00
Peter Barker
7cf2712bf1
Rover: AP_AHRS no longer requires GPS in constructor
2017-12-27 00:58:02 +00:00
Randy Mackay
457c39bf1b
Rover: FS_ param values changed to camel case
...
Also minor comment change in crash-check failsafe
2017-12-23 13:53:34 +09:00
Randy Mackay
241456f55f
Rover: remove auto trim at startup
...
Also add additional checks to auto trim
2017-12-15 20:26:40 +09:00
Randy Mackay
6459a4de9d
Rover: gyro health check uses initialised flag
...
We should not be relying on the notify flags as a way to pass info around the system. Rover's initialised flag is equivalent and more appropriate.
2017-12-15 20:26:40 +09:00
Randy Mackay
a8da459baf
Rover: GPS reported healthy to GCS even without lock
...
a GPS is unhealthy when it cannot be contacted. Not having a 3D lock should not make the GPS unhealthy.
2017-12-15 20:26:40 +09:00
Peter Barker
bce9a40ab5
Rover: remove unimplemented methods
2017-12-15 13:27:14 +09:00
Andrew Tridgell
482ae876fb
Rover: removed create() method for objects
...
See discussion here:
https://github.com/ArduPilot/ardupilot/issues/7331
we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach
Thanks to assistance from Lucas, Peter and Francisco
2017-12-14 08:12:28 +11:00
Randy Mackay
f6f40afcda
Rover: rename control_mode_from_num to mode_from_mode_num
2017-12-12 10:39:26 +09:00
Randy Mackay
c17549c7ff
AP_Arming: integrate pre arm check if regular and skid steering configured
2017-12-11 11:56:12 +09:00
Randy Mackay
ebe3ec88a7
AP_MotorsUGV: pre arm check if regular and skid steering configured
2017-12-11 11:56:12 +09:00
Randy Mackay
5d7e3d31c9
Rover: PM log message more consistent with Plane
2017-12-09 16:23:16 +09:00
Randy Mackay
4958298a75
Rover: fix auto mode distance_to_destination
2017-12-09 12:52:35 +09:00
Randy Mackay
de196f818d
Rover: log STER dataflash message regardless of mode
...
It is useful to at least have the pilot's steering in request even in manual modes
2017-12-09 12:18:49 +09:00
Randy Mackay
5f62cde550
Rover: remove throttle from NTUN logging
...
Throttle is more extensively logged in the THR message
2017-12-09 12:18:49 +09:00
Randy Mackay
9710b16cac
Rover: THR dataflash logging replaces CTUN
2017-12-09 12:18:49 +09:00
Randy Mackay
efae648461
Rover: STR dataflash logging gets turn rate
...
also get turn rate and lat accel from attitude controller
2017-12-09 12:18:49 +09:00
Randy Mackay
8e80490098
Rover: reporting gets lat accel from attitude control
2017-12-09 12:18:49 +09:00
Randy Mackay
b778546eda
Rover: rename mode lateral acceleration and make private
2017-12-09 12:18:49 +09:00
Randy Mackay
df81f666df
Rover: fix LOG_BITMASK parameter description
2017-12-09 12:18:49 +09:00
Randy Mackay
34c2fba9a7
Rover: boats stay active at destination in guided, rtl, smartrtl
2017-12-08 08:48:05 +09:00
Randy Mackay
8eb991b610
Rover: boats say active at destination in auto
...
previously the user would use the LOITER_UNLIMITED or LOITER_TIME mission commands to specify that the vehicle should remain active at the destination. This was cumbersome and not the best way to specify this behaviour because these two commands are valid for regular rovers that should not try to remain active at the destination.
2017-12-08 08:48:05 +09:00
Randy Mackay
aa38239629
Rover: add FRAME_CLASS to differentiate boats from rovers
2017-12-08 08:48:05 +09:00
Randy Mackay
57067fb8bc
Rover: add WP_SPEED and RTL_SPEED
...
This separates the default/maximum speed used in Auto, Guided, RTL and SmartRTL from the CRUISE_SPEED which is used as the base for the speed-to-throttle controller (along with CRUISE_THROTTLE)
2017-12-07 07:29:10 +09:00
Randy Mackay
22ef276484
Rover: add const to mode::speed_error
2017-12-07 07:29:10 +09:00
Randy Mackay
8f08f5189a
Rover: constify some temporary variables
2017-12-07 07:29:10 +09:00
Randy Mackay
5dabb37834
Rover: 3.2.0-rc3 release notes
2017-12-05 20:57:27 +09:00
Randy Mackay
bccdb4e195
Rover: hold mode does not require GPS
...
If armed without GPS, the user was unable to enter hold mode
2017-12-05 20:26:38 +09:00
Randy Mackay
97e87e2150
AP_MotorsUGV: skid steering always uses full range
...
Allows skid friction to be removed
2017-12-05 20:26:35 +09:00
Randy Mackay
988e4290dd
Rover: formatting and comments for set-position-target handling
2017-12-05 12:15:33 +09:00
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