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1300 Commits

Author SHA1 Message Date
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
Michael du Breuil a077eac6a9 Rover: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
khancyr 40b860e240 Rover: rename sonar to rangefinder 2017-07-14 17:40:05 +01:00
Peter Barker 2717244dd8 Rover: move rally-point handling up 2017-07-14 01:28:05 +01:00
Randy Mackay 5fc30c763e Rover: move Log_GuidedTarget declaration 
No functional change
 2017-07-14 07:27:26 +09:00
Randy Mackay ebbbe0584a Rover: integrate wheel encoder 2017-07-14 07:27:26 +09:00
Randy Mackay f6a1c53ff6 Rover: add AP_WheelEncoder to build 2017-07-14 07:27:26 +09:00
Peter Barker adb89c5ca6 Rover: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker 7aff4c6ab9 Rover: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay 208607d668 Rover: remove output_trim_all during initialisation 
MotorUGV library now outputs the proper values on the motor channels.  Other libraries are also responsible for initialising their outputs on startup.
 2017-07-12 14:24:16 +09:00
Peter Barker aeed1f0ff4 Rover: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker 901045b029 Rover: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:17 +01:00
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
khancyr b28656eb11 Rover: reoder rc and servo init 2017-07-10 19:48:35 +09:00
Randy Mackay 774e484869 Rover: remove servo channel failsafe from vehicle code 
This is now handled by the MotorsUGV library
 2017-07-10 10:37:14 +09:00
Randy Mackay 6464bfb601 MotorsUGV: set failsafe output 
This informs the I/O board to stop sending pwm if the I/O board loses
contact with the main CPU
 2017-07-10 10:37:12 +09:00
Peter Barker 9509f7f1bf Rover: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 7ad003a211 APMrover2: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay 03d04c934e Rover: improve skid-steer input processing 
limit the steering input
reverse commanded steering value if reversing to be consistent with separate steering-throttle frames
 2017-07-08 16:07:13 +09:00
khancyr f8a564f283 Rover: rename BRUSHEDPLUS to BRUSHEDBIPOLAR 2017-07-08 16:07:13 +09:00
khancyr 8ab3e83a3c Rover: use float qualifier and functions 2017-07-08 16:07:13 +09:00
khancyr 1f0c985dec Rover: add setup_servo_output to allow ouput reconfiguration 2017-07-08 16:07:13 +09:00
Pierre Kancir 38dcc2eb12 Rover: minor formatting fix 2017-07-08 16:07:13 +09:00
Pierre Kancir ba8664193a Rover: fix failsafe throttle 2017-07-08 16:07:13 +09:00
khancyr 9b97ad0fc0 Rover: solve skid steer in value 2017-07-08 16:07:13 +09:00
Pierre Kancir f70a2b36ea Rover: integrate brushless motor support 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
Pierre Kancir 29c59644b7 AP_MotorsUGV: add BrushedPlus motor type 
BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
 2017-07-08 16:07:13 +09:00
Pierre Kancir 76c9d3982a AP_MotorsUGV: motors lib for Rover 2017-07-08 16:07:13 +09:00
Randy Mackay 1fb6d45d5f Rover: version to 3.2.0-dev 2017-07-08 12:24:57 +09:00
Peter Barker cfeb449979 Rover: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev b6c397c85a APMrover2: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay 1fc85e9a8c Rover: adjust skid steer motor mixing, fix rotation direction in reverse 
balanced prioritisation of throttle vs steering when motors become saturated
direction of turning made consistent with normal (ie non-skid-steered) vehicles

Also includes fixes to motor mixing after peer review
 2017-07-01 19:48:01 +09:00
Randy Mackay f036b1f92c Rover: pivot steering stays active until within 10deg of target heading 
Previously the vehicle would pop out of pivot-steering once it was within PIVOT_TURN_ANGLE degrees of the target heading.  This meant that it would give up on the pivot steer long before it was actually pointing at the target.
 2017-07-01 19:48:01 +09:00
Peter Barker 4646eb3b95 Rover: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker dcad79bdef Rover: use DataFlash should_log to determine raw IMU logging 2017-06-29 15:26:27 +01:00
Peter Barker 8697faa44f Rover: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Randy Mackay 351b37fc31 Rover: only report system status after init has completed 
This reduces errors reported to the GCS during startup
 2017-06-28 11:32:01 +09:00
Georgii Staroselskii eed08fb8cd Rover: cork and push servo outputs 
SRV_Channels API makes it easy to sync all PWM channels at once. This is
the support needed for it to work properly on Rovers.
 2017-06-27 11:46:41 -07:00
Peter Barker 3a85d8ed39 Rover: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Peter Barker 689a5cb238 Rover: move send-logs-via-mavlink code into DataFlash 2017-06-27 03:10:43 +01:00
Pierre Kancir c865972e9c Rover: remove skid_steer_out parameter 2017-06-24 13:17:36 +09:00
Pierre Kancir 0017485ee7 Rover: move failsafe_trigger from system to failsafe 2017-06-24 13:17:35 +09:00
Pierre Kancir 9abb1f634f Rover: add comments to Steering 2017-06-24 13:17:33 +09:00
Pierre Kancir 031ed4bbb0 Rover: Remove old skid steering 2017-06-24 13:17:33 +09:00
Pierre Kancir 41e18f089e Rover: remove g.skid_steer_out in favor of have_skid_steering() 2017-06-24 13:17:32 +09:00
Pierre Kancir 1dcf90c161 Rover: use scaled input in Manual modes 2017-06-24 13:17:26 +09:00
Pierre Kancir ee28e49790 Rover: steering mark floats as float and fix parenthesis 2017-06-24 13:17:10 +09:00
Pierre Kancir 97595f98ac Rover: add comments to scheduler 2017-06-24 13:17:05 +09:00
Pierre Kancir ef2c2e4afc Rover: add some comments in radio 2017-06-24 13:16:59 +09:00
Pierre Kancir feb8c30af4 Rover: move rssi.init and set_control_channels 2017-06-24 13:16:54 +09:00
Pierre Kancir 7595ffb8ba Rover: set correct safety limit 2017-06-24 13:16:48 +09:00
Pierre Kancir 32dc59baec Rover: fix throttle slew limit for skid steer out 2017-06-24 13:16:40 +09:00
Andrew Tridgell 2e24c35906 Rover: setup default esc scaling 
for rovers without a k_throttle channel we need a default ESC scaling
value
 2017-06-21 10:30:39 +09:00
Andrew Tridgell d060fd2826 Rover: replace get_output_norm*100 for throttle with get_output_scaled 
No functional change
 2017-06-21 10:30:39 +09:00
Andrew Tridgell 79f7cc5779 Rover: implement new style skid steering 
use throttleLeft and throttleRight servo functions. This gives much
greater flexibility and control over motor trims and limits
 2017-06-21 10:30:39 +09:00
Michael du Breuil 57c9afb77e Rover: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing 2017-06-20 15:41:50 +01:00
Pierre Kancir 8a85b8be4c APMRover2: correct usage of set_output_pwm 2017-06-20 15:58:33 +09:00
Peter Barker 900f0cc774 Rover: move MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS handling up 2017-06-17 15:07:48 +01:00
Peter Barker aeacc11573 APMrover2: stop using in_mavlink_delay as a proxy for disabling logging 2017-06-16 17:07:48 +01:00
Peter Barker 0df30d03b1 Rover: call dataflash should_log method 2017-06-16 17:07:48 +01:00