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238 Commits

Author SHA1 Message Date
Randy Mackay 59a1f260d1 Rover: remove unused compat.h 2017-08-12 14:46:46 +09:00
Randy Mackay bff74115bc Rover: remove unused distance_past_wp 2017-08-12 13:05:01 +09:00
Randy Mackay 30852d4713 Rover: auto-reversed moved to mode 2017-08-05 11:20:58 +09:00
Randy Mackay 66f1437e4f Rover: remove unused throttle variable 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 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
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
khancyr 23532bf45c Rover: add reason to set_mode 2017-07-31 18:01:17 +09:00
Peter Barker 81d52c282c Rover: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay ddc70058d5 Rover: reporting wheel encoder rpm 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 f17f56dea4 Rover: move throttle nudge to Mode class 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 9173c7caaf Rover: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
khancyr 918992eb10 Rover: remove unimplemented functions 2017-07-19 11:00:34 +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
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
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
Peter Barker adb89c5ca6 Rover: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +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
Peter Barker 9509f7f1bf Rover: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
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
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 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
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
Peter Barker 3a85d8ed39 Rover: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Pierre Kancir 32dc59baec Rover: fix throttle slew limit for skid steer out 2017-06-24 13:16:40 +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
Randy Mackay a07920c5b2 Rover: add init_compass method 
no functional change
 2017-06-14 09:12:20 +09:00
Randy Mackay eb2aa80fca Rover: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-14 09:12:20 +09:00
Randy Mackay 584974fd74 Rover: set home from ekf position 2017-06-14 09:12:20 +09:00
Randy Mackay 0da6e73d76 Rover: add support for visual odometry 2017-06-14 09:12:20 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f004f4b499 Rover: Spell in comments 2017-05-18 09:29:55 +09:00
Pierre Kancir 670e7b7914 ROVER: put all guided param in one structure 2017-05-04 19:53:21 +10:00
Pierre Kancir 045d171ab9 Rover: add Guided velocity controller 2017-05-04 19:53:21 +10:00
Randy Mackay c1d3384835 Rover: rename set_next_WP to set_auto_WP to clarify usage 2017-05-04 19:53:21 +10:00
Randy Mackay d6b55b2d09 Rover: set_guided_WP accepts location 2017-05-04 19:53:21 +10:00
Pierre Kancir 27e52695fe APMRover2: add initial support for MAV_CMD_CONDITION_YAW 2017-04-28 12:01:47 +10:00
karthik.desai 47ff9ddeec Rover: Added Beacon implementation 
Enabled beacon parameters
beacon updates at 50hz
Use dataflash library to log AP_Beacon msg
 2017-04-26 11:59:11 +09:00
Pierre Kancir c41e695c98 APMRover2: correct some style 2017-04-26 08:43:09 +10:00
Grant Morphett 304c9b6e72 Rover: Fixed a bug in reverse 
If a user was driving in reverse and when into an auto mission the
rover would try to do the whole mission in reverse.  This fixes that.
 2017-03-15 17:24:35 +11:00
Randy Mackay f29fe8bb88 Rover: always specify rangefinder instance 2017-02-27 15:18:32 +09:00
Peter Barker 45e0765b97 Rover: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker 407e251e1d Rover: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Pierre Kancir 99ba8bdc08 APMRover2: add advance failsafe 2017-01-31 17:12:37 +11:00
Randy Mackay 0b8ebe36dd Rover: send flight mode string to Notify 2017-01-23 15:07:21 -08:00
Peter Barker ddf172c75b Rover: AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Andrew Tridgell 93d6b012c2 Rover: convert to new SRV_Channel API 2017-01-12 17:39:37 +11:00
Peter Barker 61430a51b3 Rover: correct compilation when camera disabled 2017-01-02 16:17:43 +11:00
Pierre Kancir 84f70f722d Rover: Rover.h correct whitespace, remove tabs 2016-12-30 09:20:24 +09:00
priseborough 2facebff80 Rover: Add EKF3 and remove EKF1 2016-12-19 08:07:10 +11:00
Pierre Kancir dec954bb0c Rover: added crash check 2016-12-07 12:46:02 +11:00
Randy Mackay 55f316034c Rover: include AP_Beacon 2016-11-30 17:57:04 +09:00
Peter Barker dab0d8e6e2 Rover: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
Grant Morphett 515ceb3ccd Rover: Added logging of the guided commands 2016-11-28 12:00:03 +11:00
Pierre Kancir 8c0de11d6d APMrover2: remove double include stdarg.h 2016-11-23 18:47:34 +00:00
Grant Morphett 5b411aef65 Rover: Fixed LOITER_UNLIM to be an active loiter 
This changes brings the LOITER commands in line so both LOITER_UNLIM
and LOITER_TIME are actively loitering.
 2016-11-13 08:26:33 +11:00
Grant Morphett 86d4fcfb32 Rover: Station Keeping is implemented via NAV_LOITER_COMMAND 
It is a very simply form of station keeping.  If a boat is
loitering on a waypoint and it gets blown off a distance
past the WAYPOINT_RADIUS it will automaticlly drive back to
the waypoint.
 2016-10-30 22:50:03 +11:00
Peter Barker 36c0bacada Rover: support for AP_Stats (flight time, bootcount, runtime) 2016-10-29 14:53:25 +09:00
Peter Barker cfee3b6c0e Rover: add support for ParametersG2 2016-10-29 14:53:25 +09:00
floaledm 629af84ca1 Rover: update sensor status error flags independently of sending a sys_status message 2016-10-28 15:11:44 +11:00
Grant Morphett 2d09db4ecb Rover: added a new form of GUIDED mode 
Rover now accepts a new message MAV_CMD_NAV_SET_YAW_SPEED
which has an angle in centidegrees and a speed scale and the rover
will drive based on these inputs.
 2016-10-25 08:04:01 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 08b0ba99db Rover: fixes for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm b5f75459f2 Rover: compatibility with revised AP_Frsky_Telem class 2016-08-25 10:16:18 +10:00
floaledm 4030851207 Rover: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
Andrew Tridgell a4270b1bb6 APMrover2: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Andrew Tridgell fd0f31dc44 Rover: added AP_Button support 2016-07-22 15:01:21 +10:00
Grant Morphett 57c23c7fe3 Rover: Adding support for rovers driving in Reverse. 2016-07-17 08:15:34 +10:00
Grant Morphett d1799884b2 Rover: Implemented MAV_CMD_NAV_LOITER_UNLIM 2016-07-14 11:34:22 +10:00
Peter Barker a1c97f4585 Rover: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Andrew Tridgell f61ba903dd Rover: don't stall EKF during baro cal 2016-05-24 17:00:55 +10:00
Lucas De Marchi d3ee998fa6 APMrover2: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Grant Morphett 2c4aaf7cb3 Rover: Commit for Rover release 3.0.0 2016-04-05 15:45:18 +10:00
Lucas De Marchi dd8014dd2f APMrover2: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Michael du Breuil b6378e2827 Rover: Use arming voltage 2016-03-14 09:07:34 -07:00
Tom Pittenger 0372b52378 Rover: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:05 +11:00
Dario Lindo Andres f731a0dc53 APMrover2: Added precise camera trigger logging 
included update_trigger function
added camera trigger precise time mark
detect camera feedback pin status
added support for TRIGGER MSG
corrected according to defines.h
 2016-01-29 09:19:43 +11:00
Siddharth Bharat Purohit 53d3e7dc61 Rover: wire up accel calibrator for Rover 2015-12-29 10:46:35 -08:00
Andrew Tridgell 7daab1ee62 Rover: convert to Hz based task table 2015-12-27 14:57:24 +09:00
Andrew Tridgell c94b30b7bc Rover: fixed flymaple build 2015-12-22 11:35:31 +11:00
Julien BERAUD c28a71ec63 Rover: Update Optical Flow declaration 
Pass ahrs as param
 2015-12-18 17:56:06 +11:00
Lucas De Marchi 767f126eaa APMrover2: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:44 +11:00
Peter Barker 5d46a9add0 Rover: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Caio Marcelo de Oliveira Filho ee073787c8 Rover: use millis/micros/panic functions 
Instead of going through 'hal' then 'scheduler', use directly the AP_HAL
functions. Besides removing indirection that is not necessary for such
functions, this patch ends up reducing the code size in the call sites.

For example, building ArduCopter for PX4 with this change (compared to
before introduction of the functions) yields almost 3k bytes of code
size.

    # ArduCopter build before the functions (1b29a1af46)
       text	   data	    bss	    dec	    hex	filename
     895264	   2812	  62732	 960808	  ea928	/.../px4fmu-v2_APM.build/firmware.elf

    # ArduCopter build after this patch
       text	   data	    bss	    dec	    hex	filename
     892264	   2812	  62732	 957808	  e9d70	/.../px4fmu-v2_APM.build/firmware.elf

A later patch will remove the unused functions in the Schedulers.
 2015-11-20 12:26:14 +09:00
Grant Morphett bbbbd07935 Rover: GPS fix to ensure we only look at new GPS messages 2015-11-11 13:39:39 +11:00
Grant Morphett e81973cd29 Rover: motor_active method similar to the plane is_flying but simpler 2015-11-11 13:39:39 +11:00
Grant Morphett 3636b53313 Rover: Implementation of the ARMING functionality 2015-11-11 13:39:38 +11:00
Grant Morphett 2d1745ab6a Rover: Implemented the HOME state update from Plane 2015-11-11 13:39:38 +11:00
lvale a64689600f Rover: text message severity uniformization 
Global revision of message severity values.

Required also change to the low priority function gcs_send_text_fmt()
on GCS_Mavlink.cpp to disable the automatic setting of priority on
messages sent by this function
 2015-11-05 12:33:56 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi ee72254ff9 APMrover2: remove undefined function from header 2015-10-30 14:35:20 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Caio Marcelo de Oliveira Filho bad68829ae APMrover2: include SITL only for SITL board 
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.

In the future we should evaluate whether the HAL for the board should
instantiate this.
 2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Caio Marcelo de Oliveira Filho 06b2c966c1 APMrover2: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Andrew Tridgell 5cac948ed0 Rover: added EK2_ parameters and EKF2 instance 2015-09-23 11:56:27 +10:00
Grant Morphett 571b4478fd Rover: Using a new method to check for throttle failsafe 
This method checks for throttle reversal.
 2015-09-09 10:28:02 +10:00
Andrew Tridgell b87ed96825 Rover: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Siddharth Bharat Purohit b8a9f9ebc5 APMrover2: implement on-board compass calibration for APMrover 2015-09-03 16:59:14 +10:00
Peter Barker 6e3687f8af Rover: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:20 +10:00
Stewart Loving-Gibbard a315b980bf Rover: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
squilter b4cf0ce2bb Rover: update severity values 2015-08-25 14:04:40 +09:00
squilter 06eb53402f Rover: define and send FIRMWARE_VERSION 2015-08-23 09:21:53 +09:00
Tom Pittenger 2319bdb068 Rover: queue MISSION_ITEM_REACHED 
clean up unreachable code
 2015-08-19 15:42:08 +10:00
Tom Pittenger 545d926d20 Rover: bring rover mission callback inline with copter and plane 2015-08-19 15:26:32 +10:00
Gustavo Jose de Sousa 01e05ce743 APMrover2: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Grant Morphett 92a7a3e6ff Rover: Lets put Rover into BETA - v2.2.51 
I also made myself the maintainer - ssshhh - don't tell Tridge.
 2015-08-06 17:13:30 +10:00
squilter aa4a7a0b28 Rover: init vehicle capabilities 2015-08-01 09:35:46 +09:00
Grant Morphett a2e9d0488c Rover: Implemented loitering at a waypoint if Param1 is non-zero 
Rover now honours the Param1 setting of a time in seconds for a
NAV_WAYPOINT and the Rover will loiter at that waypoint for that
period of time.
Note that as soon as the Rover reaches that waypoint the loiter timer
will start. If you enter a different mode during this time (HOLD for
instance) the timer resets. If you then switch back to AUTO
mode and the Rover returns to that waypoint it will wait for the
loiter time configured in param1.
 2015-07-29 10:08:04 +10:00
Randy Mackay 5ef4f8e90a Rover: log ahrs home and ekf origin 2015-07-06 13:28:10 +09:00
Peter Barker 4b0495bb15 Rover: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker e9e59e6c38 Rover: DataFlash frontend/backend split 2015-06-26 16:02:51 +10:00
Grant Morphett 3da78052a1 Rover: Release 2.50! 2015-06-19 14:24:05 +10:00
Grant Morphett a602173c45 Rover: added the PID logging for steering into the mavlink message. 
Copter/Plane already have this PID logging in the mavlink stream to
the GCS and now Rover does too.
 2015-06-19 09:55:19 +10:00
Andrew Tridgell e449b3c4a1 Rover: changes for new AHRS API 2015-06-01 16:17:15 +10:00
Lucas De Marchi 2f5314a1a6 APMrover2: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Andrew Tridgell daa2c611a9 Rover: fixed APM1 build 2015-05-21 07:48:50 +10:00
Andrew Tridgell 3a28811909 Rover: removed remaining warnings from PX4 build 2015-05-21 07:48:50 +10:00
Andrew Tridgell b47a09b709 Rover: fixed build of .cpp files 2015-05-21 07:48:49 +10:00
Andrew Tridgell b731ebfd9e Rover: coversion to class now complete 2015-05-21 07:48:48 +10:00
Andrew Tridgell f99186afbc Rover: added initial Rover class 2015-05-21 07:48:47 +10:00