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343 Commits

Author SHA1 Message Date
Peter Barker
a722fd1323 Rover: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
277f3799a5 Rover: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker
6fcdfbbe32 Rover: attempt to set home position regardless of GPS lock 
The AHRS may be supplying as a home position through mechanisms other
than a GPS lock.  Don't assume in the caller to update_home().

Rover: fold update_home_from_EKF back into sole caller

This method is confusingly similarly named to update_home - and they do
pretty much the opposite thing.

Rover: remove incorrect and misleading comments on set_home_to_current_location

Rover: rewrite update_home to not set home if no origin set

Also checks that home is set before using values from it

Rover: zero stack variables when updating home

If these are a problem we have significant problems through the code
 2019-02-13 09:42:26 +11:00
Peter Barker
dab23b817c Rover: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
9105284a7d Rover: remove rc out initialisation wrappers 2019-02-12 08:21:30 +09:00
Peter Barker
9496ffea14 Rover: enable gripper support 2019-02-09 11:02:22 +09:00
Tom Pittenger
d5c67e0b07 Rover: move wheelEncoder logging to library 2019-02-06 10:41:59 +09:00
Tom Pittenger
12f66acfb7 Rover: remove wheel_encoder_rpm 2019-02-05 08:32:37 -08:00
jmachuca77
692281b273 Rover: adding AP_RPM 2019-02-05 08:32:37 -08:00
Peter Barker
7ea223eac6 Rover: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker
9b16d1bbd3 Rover: move sending of fence_status up 2019-01-31 13:44:29 +09:00
Pavlo Kolomiiets
c0dcb93e4c Rover: send mavlink WHEEL_DISTANCE message 2019-01-28 19:35:18 +09:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
TsuyoshiKawamura
41fd596c06 Rover: improve cruise speed/throttle learning. fix #9777 2019-01-10 20:23:36 +09:00
TsuyoshiKawamura
e64f50860f Rover: move mode_from_mode_num function to its alphabetical order. 2019-01-09 08:45:01 +09:00
TsuyoshiKawamura
17f8b89b17 Rover: move mode_from_mode_num to mode.cpp 2019-01-07 12:53:45 -08:00
Michael du Breuil
216cb23806 APMRover2: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Tatsuya Yamaguchi
3ff1bb7714 Rover: add ekf failsafe 2018-12-20 15:15:00 +09:00
Peter Barker
f8f5faa6b9 Rover: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Randy Mackay
66a2c10203 Rover: proximity logging uses LOG_BITMASK for rangefinder 2018-12-14 09:18:23 +09:00
Peter Barker
29782c3d2e Rover: move AP_Mission object into ModeAuto class 
This mirrors what we did for Copter
 2018-12-13 13:44:46 +09:00
Peter Barker
b67876316a Rover: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
TsuyoshiKawamura
ba0926e101 Rover: MIS_DONE_BEHAVE parameter to choose mode after mission done 2018-11-23 15:27:58 +09:00
Peter Barker
86994ba195 Rover: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
5dcf4dfffc Rover: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay
002223204b Rover: add comments to failsafe structure 2018-11-14 20:32:53 +09:00
Peter Barker
78313dab4a Rover: stop passing ahrs to OpticalFlow constructor 2018-11-13 10:40:23 +11:00
Peter Barker
67e5b18268 Rover: factor out do_aux_function_change_mode 2018-11-08 10:01:16 +09:00
Randy Mackay
047f704236 Rover: last_heartbeat_ms moved to failsafe structure 2018-11-02 10:31:37 +09:00
Randy Mackay
fa5de31cb9 Rover: rename control_failsafe to radio_failsafe_check 
although this makes the name inconsistent with plane it is more precise because control can also come from rc-overrides which are covered by the GCS failsafe
 2018-11-02 10:31:37 +09:00
Randy Mackay
2db6b7c7cb Rover: move sailboat vars into struct 
also fix airspeed library's parameter description
also log NaN when we do not have wind direction or speed estimates
also send timeout message to GCS when taking takes too long
 2018-11-01 18:04:19 +09:00
Randy Mackay
4dbff6af7e Rover: use AP_WindVane's send_wind 2018-11-01 18:04:19 +09:00
IamPete1
0dddc2eafe Rover: add sailboat tacking 2018-11-01 18:04:19 +09:00
Peter Barker
9a263780d0 Rover: move handling of gimbal messages up 
Rover: move handling of mav_cmd_do_mount_control up

Rover: move handling of deprecated mount messages up

Rover: move handling of command_do_set_roi up

Rover: move handling of command_do_set_roi up

Rover: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Peter Barker
42b196a9a6 Rover: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Randy Mackay
4a5b56c929 Rover: windvane update called from scheduler at 20hz 2018-09-28 10:40:12 +09:00
IamPete1
4366bae96d Rover: add sailboat support 2018-09-28 10:40:12 +09:00
Randy Mackay
efdd3946fc Rover: simple mode fixes 2018-09-11 16:43:17 +09:00
Ammarf
6ba5942ece Rover: add simple mode 2018-09-11 16:43:17 +09:00
Randy Mackay
f0ad8760e2 Rover: move rally to g2 2018-08-30 09:55:05 +09:00
Raouf
90fd64cf3a Rover: add support for rally points 2018-08-30 09:54:51 +09:00
Thorsten Panitz
ee8d5d77d0 Rover: Activation of OSD 
Rover: Activation of OSD
 2018-08-30 08:19:02 +10:00
Randy Mackay
88a230e897 Rover: DPTH message only written if range finder last read time changed 2018-08-28 09:23:38 +09:00
Randy Mackay
db611e074c Rover: include wheel-rate-control 2018-08-27 16:44:33 +09:00
Randy Mackay
a5e28f0729 Rover: balancebot_pitch_control method removes unused armed arg 
Also remove constraint on throttle output (this is handle in the AP_MotorsUGV library
Also move balance bot declarations to alphabetical order within Rover.h
 2018-08-27 16:44:33 +09:00
Ammarf
430ed9bd3d Rover: add custom config support 2018-08-07 10:01:32 +09:00
Randy Mackay
936dca7531 Rover: remove compass accumulate 2018-08-06 11:05:34 +10:00
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
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
Peter Barker
24ef1a61b3 Rover: remove old AP_Menu include 2018-07-23 14:20:22 +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
jeff567
200a644cfe Rover: fixes bug in rovers with pivot turning 2018-07-11 11:35:43 +09:00
Peter Barker
efdc13d143 Rover: remove pointless rangefinder_init shim function 2018-07-04 21:08:47 +01:00
Peter Barker
ea12f6caec Rover: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Ebin
2780d1715c Rover: balance bot pitch control added in all modes 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
Raouf
9d51e87762 Rover: Save compass offsets when disarmed and learning is on 2018-06-26 08:51:16 +09:00
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
Peter Barker
9b269b1b56 Rover: use AP_RTC 
Rover: AP_GPS now sets the system time directly
 2018-06-15 08:01:22 +10:00
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
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
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
9d83ee8cc7 Rover: move sending of vfr_hud up 2018-05-29 13:00:40 +10:00
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
Peter Barker
1ecd371cd0 Rover: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
3799a13bc3 Rover: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
0d3051e46a Rover: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
a52f3d8f70 Rover: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Peter Barker
a78fe0896f Rover: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
9e1811027d APMrover2: move try_send_message handling of RC_CHANNELS_RAW up 2018-05-08 12:33:32 +01:00
Randy Mackay
c6638f66de Rover: Loiter mode for boats 2018-05-06 16:58:00 +09:00
night-ghost
2aee8d1018 APMrover2: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
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
Peter Barker
e74d07ff15 Rover: remove wrapper for Log_Write_Beacon 2018-04-04 16:20:33 +09:00
Peter Barker
a45e3cba15 Rover: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
c10f404b12 Rover: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Michael du Breuil
b761a57da3 Rover: Support new battery interface 2018-03-27 22:12:21 +01:00
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
Peter Barker
81ba037582 Rover: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
90d26a5100 Rover: eliminate perf_update scheduler table shim 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
Peter Barker
df304c5e6b Rover: remove shims used in scheduler table 2018-02-12 15:39:26 +09:00
Michael du Breuil
2e9e91b3a3 Rover: Move battery logging to AP_BattMonitor 2018-02-06 00:11:32 +00:00
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