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34,013 Commits 72 Branches 509 Tags 683 MiB
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1574 Commits

Author SHA1 Message Date
Peter Barker
5d923aed85 Rover: remove dead gcs failsafe code 
Also use rc().has_valid_input() before using radio for trim
 2018-08-02 15:21:03 +09:00
Peter Barker
e501ba203f Rover: rename control_modes.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Randy Mackay
fada9f1990 Rover: version to 3.5.0-dev 2018-08-01 20:23:24 +09:00
Peter Barker
1f0908bba2 Rover: move handling of RC Switches into RC_Channel 
Rover: use base-class auxsw handling

Rover: factor out do_aux_function_change_mode

Rover: move mode number enumeration to be in Mode:: namespace

Rover: move mode switch handling to RC_Channel

Rover: rename control_modes.cpp to RC_Channel.cpp

Rover: move motor_active() to be a method on the motors class
 2018-08-01 12:11:30 +09:00
Michael du Breuil
f4d2014b56 Rover: Update notify initilization 2018-08-01 09:22:09 +10:00
Randy Mackay
315a33ed10 Rover: 3.4.2 release notes 2018-07-30 14:37:55 +09:00
murata
c705d3d816 Rover: Modify indentation (NFC) 2018-07-30 08:17:53 +09:00
Ebin
6dcab4e87b Rover: support balance bot in AUTO mdoe 2018-07-28 08:44:18 +10:00
Randy Mackay
f7f4b43683 Rover: 3.4.2-rc1 release notes 2018-07-23 17:15:33 +09:00
Peter Barker
24ef1a61b3 Rover: remove old AP_Menu include 2018-07-23 14:20:22 +09:00
Randy Mackay
82aba6fe56 Rover: guided heading-and-speed control slows using yaw error 2018-07-18 15:11:09 +09:00
Randy Mackay
5dc4b8e66d Rover: guided mode slows to stopping point on init 2018-07-18 15:11:09 +09:00
Randy Mackay
77598f72d1 Rover: remove redundant set_steering calls from Guided 
steering is centered within the stop_vehicle method
 2018-07-18 15:11:09 +09:00
Randy Mackay
3b7e84ce7a Rover: calc_steering_to_heading updates yaw error 
this allow the vehicle's speed to be reduced based on the heading error
 2018-07-18 15:11:09 +09:00
Randy Mackay
84bda4e893 Rover: follow mode fixes and improvements 
fix follow endless loop on enter
pass mavlink messages to AP_Follow
separate follow from guided
follow slows based on yaw error
check follow is enabled before entering follow mode
fix order in switch statement when converting from mode number to mode object
remove unused last_log_ms from follow mode
 2018-07-18 15:11:09 +09:00
Ammarf
c0082271e6 Rover: implement Follow mode 2018-07-18 15:11:09 +09:00
Michael du Breuil
84f891c5b1 Rover: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Andrew Tridgell
08da22c682 Rover: improved setup of output modes 2018-07-13 16:11:12 +09:00
Michael du Breuil
2b5aa9bc53 Rover: Remove usage of analogPinToDigitalPin 2018-07-11 23:09:52 -07:00
jeff567
200a644cfe Rover: fixes bug in rovers with pivot turning 2018-07-11 11:35:43 +09:00
Peter Barker
b62639e07c Rover: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
0785e48718 Rover: handle command_int in base class 2018-07-06 09:43:09 +10:00
Peter Barker
1da3e8f182 Rover: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
efdc13d143 Rover: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
ca264b1932 Rover: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Andrew Tridgell
8f94302348 Rover: removed unused macros 2018-07-04 20:05:10 +01:00
Ebin
07fc5c8349 Rover: removed min speed crash check for balance bot 2018-07-04 16:34:52 +09:00
Randy Mackay
eb58399d8b Rover: 3.4.1 release notes 2018-07-04 11:37:52 +09:00
Peter Barker
b38b9dc07c Rover: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker
ea12f6caec Rover: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker
e1408696dc Rover: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Randy Mackay
b9d8f53af2 Rover: correct object avoidance parameter descriptions 2018-06-29 14:56:33 +09:00
Ebin
96d4335765 Rover: Crash check based on angle for all rover frames 2018-06-28 21:55:20 +09:00
Ebin
04604ced33 Rover: BalanceBot.cpp renamed to balance_bot.cpp 2018-06-28 21:55:20 +09:00
Ebin
73e6ce18a0 Rover: Crash checks for Balance Bot 2018-06-28 21:55:20 +09:00
Ebin
2780d1715c Rover: balance bot pitch control added in all modes 2018-06-28 21:55:20 +09:00
Ebin
c65405541e Rover: balancing function call moved to manual mode update() 2018-06-28 21:55:20 +09:00
Ebin
6c2f18cc2f Rover: manual mode support for balancebot 2018-06-28 21:55:20 +09:00
Ebin
936ebbe1f3 Rover: Added BalanceBot as a rover frame 2018-06-28 21:55:20 +09:00
Michael du Breuil
b5bc9e5147 Rover: Remove unneeded battery failsafe flag clearing 2018-06-27 11:39:35 +10:00
Raouf
9d51e87762 Rover: Save compass offsets when disarmed and learning is on 2018-06-26 08:51:16 +09:00
Peter Barker
3f0a56a818 Rover: use arming check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
667ad98057 Rover: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
87a3fcdd02 Rover: remove usb-mux checking 
Nobody ever uses the result from this
 2018-06-20 02:12:56 +01:00
Peter Barker
ab6cf171da Rover: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Randy Mackay
03babfdc3c Rover: fix RNGFND_TURN_ANGL param description again 2018-06-18 17:51:46 +09:00
Randy Mackay
9efa7ad635 Rover: fix RNGFND_TURN_ANGL range 2018-06-18 16:06:45 +09:00
Randy Mackay
acfbce95a6 Rover: update NTUN logging 
reorder to allow easier comparing of adjacent fields
remove absolutes
rename fields
 2018-06-18 10:25:56 +09:00
Peter Barker
9b269b1b56 Rover: use AP_RTC 
Rover: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
Randy Mackay
3ca520021b Rover: version to 3.4.2-dev 2018-06-12 20:57:25 +09:00
Randy Mackay
a566ad48e9 Rover: 3.4.1-rc1 release notes 2018-06-12 20:56:50 +09:00
Randy Mackay
c650c52577 Rover: 3.4.0 release notes 2018-06-12 18:20:11 +09:00
Randy Mackay
f0780c7bb1 AP_MotorsUGV: minor comment fix 2018-06-12 17:44:10 +09:00
Randy Mackay
1c0d9c7512 AP_MotorsUGV: MOT_SPD_SCA_BASE param for min speed scaling 
This replaces the hardcoded 1m/s start point for speed scaling with a configurable value
 2018-06-12 17:44:10 +09:00
Randy Mackay
5faff519c3 AP_MotorsUGV: steering limits and constraint done by each output handler 
each motor output handler (regular, skid, omni) becomes responsible for constraining the steering input (if required) and setting the limits flags
it is possible to reduce duplicate code but I think it might be more important to keep it clear which level is responsible for the limiting and constraining of steering
 2018-06-12 17:44:10 +09:00
Michael du Breuil
c85f8c7bf5 Rover: Simplify radio trimming, improve MAVLink report 2018-06-11 16:29:36 -07:00
Randy Mackay
b69155793f Rover: add Log_Write_Depth 2018-06-12 08:29:08 +09:00
Randy Mackay
d34c87a457 Rover: alphabetise Log_Write methods 2018-06-12 08:29:08 +09:00
Randy Mackay
c51b38cd1c Rover: rename Log_Arm_Disarm to Log_Write_Arm_Disarm 2018-06-12 08:29:08 +09:00
Randy Mackay
10d89f1315 Rover: remove unimplemented Log_Write_Performance declaration 2018-06-12 08:29:08 +09:00
Randy Mackay
631d8f5423 Rover: accept do-change-speed commands with high speeds 2018-06-11 09:10:35 +09:00
Randy Mackay
a08a955cbc Rover: accept DO_CHANGE_SPEED commands 2018-06-11 09:10:35 +09:00
Randy Mackay
8464e82812 Rover: set_desired_speed range checks speed 2018-06-11 09:10:35 +09:00
Randy Mackay
c8f4227313 Rover: remove SPEED_TURN_GAIN 
Loiter was the only mode using this, replaced with hardcoded gain.  The desired speed in Loiter also uses a hardcoded gain so this should work
 2018-06-08 09:19:25 +09:00
Randy Mackay
645edf1f57 Rover: wp_overshoot used to limit speed in Auto 
Limits desired speed to max possible given max lateral
acceleration and distance to line between waypoints
Replaces the use of SPEED_TURN_GAIN which scaled down speed
Also used in Guided, RTL, SmartRTL
 2018-06-08 09:19:25 +09:00
Peter Barker
cf1f2f9aeb Rover: move motors_active to be motors.active 
This will help when we come to subclass the Motors library.
 2018-06-08 08:51:18 +09:00
Peter Barker
65b7ca3fbb Rover: factor out a do_aux_function_change_mode 
Less code is good
 2018-06-08 08:50:08 +09:00
Peter Barker
36705af8ff Rover: create an enumeration to hold vehicle mode constants 
This gives us type-safety on the mode numbers.  This is advantageous as
some of these symbols exist with different values elsewhere in the code.
 2018-06-08 08:41:16 +09:00
Michael du Breuil
cc772710ec Rover: Rework to support override changes 2018-06-05 09:51:09 +10:00
Michael du Breuil
0ad2750f55 Rover: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
424d243c7f Rover: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Randy Mackay
c83ff0e156 Rover: 3.4.0-rc1 release notes 2018-06-01 16:40:54 +09:00
Randy Mackay
1e058045f7 Rover: guided mode more forgiving of set-position-targets type_mask field 
accept position targets regardless of any other bit settings in type mask field.  This makes rover more forgiving of errors in the type_mask field.
 2018-06-01 15:05:48 +09:00
Ammarf
26c25daa36 Rover: add support for lateral control input 2018-05-31 13:48:17 +09:00
Randy Mackay
73bdc3be09 Rover: set ahrs flyforward if thr over 15% for 2 seconds 
or if throttle is positive and desired speed over 0.5m/s
 2018-05-29 16:37:31 +09:00
Peter Barker
12853f8912 Rover: correct compilation for transitive include fail 2018-05-29 14:42:02 +10:00
Peter Barker
c99cc465e6 Rover: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
829d18874e Rover: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
9d83ee8cc7 Rover: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
Randy Mackay
70cef2f61e Rover: report set-attitude-target capability 
rover accepts the set-attitude-target mavlink messages
 2018-05-25 10:40:49 +09:00
Ammarf
b95ac72d35 Rover: add LOITER to ch7 options 2018-05-24 17:59:45 +09:00
Randy Mackay
e1d80e547d Rover: proximity sensor sets laser unhealthy when no data 
previously it would set laser to unhealthy if proximity sensor wasn't present which interfered with a single downward facing range finder
 2018-05-24 12:46:38 +09:00
Randy Mackay
60b9f6f9c0 Rover: report laser as healthy even if not used for avoidance 
this allows downward facing lidar to be used on boats
 2018-05-24 12:46:38 +09:00
Randy Mackay
51a0cbc1da Rover: loiter slows using attitude control get_desired_speed_accel_limit 2018-05-24 11:06:20 +09:00
Randy Mackay
fc35e74821 Rover: pass dt to attitude controller 2018-05-24 11:06:20 +09:00
Randy Mackay
444e64a3d0 Rover: slow before pivot turns 2018-05-24 11:06:20 +09:00
Peter Barker
8101f2b573 Rover: move sending of simstate up 2018-05-23 18:36:50 +10:00
Randy Mackay
24dd9a1c2c Rover: update GPS at 50hz 2018-05-23 17:17:29 +09:00
Randy Mackay
cc53b9c39d Rover: update current_loc in update_ahrs 
this ensures the current_loc is updated before any of the flight mode code runs
 2018-05-23 17:17:29 +09:00
Ammarf
d7821635c0 Rover: seperate acceleration/deceleration limits 2018-05-23 17:17:29 +09:00
Peter Barker
e377debf25 Rover: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
3f4783fa5d Rover: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker
90124c20cb Rover: shorten time remaining in try_send_message 
The scheduler table entry for retrying defered messages doesn't allow
enough time for try_send_messages to run.

This change makes the time-remaining requirement the same as Plane.
 2018-05-21 18:16:56 +09:00
Ammarf
2d64a47f90 Rover: add pivot_turn_rate to g2 2018-05-21 09:48:43 +09:00
Peter Barker
1ecd371cd0 Rover: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
0e8f01021d Rover: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
3799a13bc3 Rover: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
c9d47c4ed5 Rover: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
ace48d72b0 Rover: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
a37c8eae1f Rover: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00