Commit Graph

91 Commits

Author SHA1 Message Date
Randy Mackay c6638f66de Rover: Loiter mode for boats 2018-05-06 16:58:00 +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
Daniel Widmann 572d9ba43b Rover: Allow switching to ACRO mode for skid steer rovers without GPS 2018-04-13 09:12:03 +09:00
Randy Mackay 343d119726 Rover: wp nav uses stopping point or prev wp for origin 2018-03-14 12:40:04 +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
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 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 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
Randy Mackay 4958298a75 Rover: fix auto mode distance_to_destination 2017-12-09 12:52:35 +09:00
Randy Mackay b778546eda Rover: rename mode lateral acceleration and make private 2017-12-09 12:18:49 +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 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 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 8eb58b266a Rover: remove unused failsafe_throttle_suppress method 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 9f94875228 Rover: mode class gets set_desired_location_NED 2017-12-01 09:28:56 +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 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 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 b60cb536ab Rover: RTL within auto mode 2017-11-23 10:20:19 +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 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 9097269d6d Rover: use AR_AttitudeControl for steering control 2017-08-15 20:47:19 +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 4f5e82f406 Rover: mode fixes for reversing 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
Randy Mackay f17f56dea4 Rover: move throttle nudge to 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