a5e424350d
Rover: remove unnecessary constraint on steering sent to motors library
3 years ago
a0ef7a1476
Rover: stop_vehicle controls turn rate until stopped
3 years ago
4f77f7545a
Rover: disable turning at low speeds when simple avoidance is active
4 years ago
c1d4e5116d
Rover: move TURN_MAX_G param to atitude control
4 years ago
f5491433f6
Rover: direct-rotation sail mast control
4 years ago
b65e564ec9
Rover: use deadzone in 2-paddle steering
4 years ago
a2d6ec4bec
Rover: simple mode handles two paddle input
4 years ago
62a02f7c87
Rover: calc_speed_nudge uses larger of pilot input and wpnav speed target
4 years ago
a977abac2d
Rover: fix pivot turns
4 years ago
8c32392d73
Rover: fix speed nudge
...
Problem: vehicle speed "runs away" to speed_max for any throttle value over 75%.
Cause: the desired_speed was calculated by interpolation between the current speed to speed_max, rather than the speed_default to speed_max. As current speed increases the desired speed increases although throttle is fixed. Hence the "runaway".
Fix: Now speed nudge interpolates between the desired speed and speed_max.
Tested:
modes: wp navigation, guided ,rtl
params: spped_max, wp_speed, rtl_speed, speed_max
do_change_speed
4 years ago
de1dec819c
Rover: calc_steering_from_turn_rate remove args
4 years ago
9248272baa
Rover: walking_height input sent to motors
4 years ago
485eb3fa88
Rover: roll and pitch input sent to motors
...
added get desired roll and pitch
Motors library adds set and get methods for roll and pitch
added roll and pitch to get_control_output
get_control_output returns roll and pitch values
4 years ago
653714ce29
Rover: manual mode avoids saturation on skid-steer vehicles
5 years ago
300a118852
Rover: astyle, reformatted few files in Rover Dir
5 years ago
d31700c310
Rover: rename directory from APMrover2
5 years ago
dba272bafb
Rover: mode: trigger tack on active fence limits
5 years ago
fbd502d7ab
Rover: add wing sail support
5 years ago
129651b7e4
Rover: move set_desired_speed to each mode
5 years ago
266457711a
Rover: add loiter gain and max vehicle speed params
5 years ago
e28d56f63a
Rover: use AR_WPNav get stopping location
5 years ago
d83745e305
Rover: Sailboat tacking improvements
5 years ago
3308a84acc
Rover: sailboat add motor-sailing
6 years ago
d88e12b206
Rover: mode: use oa_wp_bearing_cd
6 years ago
13aaf4375b
Rover: remove Dodge avoidance
...
this has been replaced with BendyRuler OA Path Planning
6 years ago
692bf1c931
Rover: null check for unconfigured RCMAP_YAW which is not use don all vehicle types
6 years ago
f22d7c906a
Rover: move to use new sailboat class
6 years ago
8c034e6fa2
Rover: prepend _old to some unused param enums
6 years ago
40f3f414cd
Rover: handle AR_WPNav failing to set desired location
6 years ago
20152dbdb7
Rover: fix logging of desired lateral acceleration
6 years ago
2b654983a9
Rover: yaw_error_cd becomes local variable in Loiter only
6 years ago
75ba96b7a2
Rover: separate nudge from calc_throttle
...
This is required because AR_WPNav produces an acceleration adjusted desired speed meaning in rare cases where the vehicle is moving in reverse at the time auto is engaged, the desired speed may be temporarily negative as the vehicle slows. In these situations we do not want to allow the vehicle's speed to be nudged to a higher reverse speed if the pilot's throttle stick is all the way down
6 years ago
a94ebc5bc3
Rover: integrate navigation library
6 years ago
d1f7485e14
Rover: add STICK_MIXNG param
6 years ago
a798f9eb27
Rover: refactor motor.set_steering() to mode.set_steering()
6 years ago
007d317741
APMrover2: move get_bearing_cd to Location and rename to get_bearing_to
6 years ago
36d755a48a
Rover: replace location_offset() and get_distance() function calls with Location object member function calls
...
This allows removing duplicated code
6 years ago
85c3286c6e
Rover: balance bots continue balancing when stopped
6 years ago
6cebd634cd
Rover: avoid divide-by-zero in desired-speed-final calcs
...
The previous check using is_zero would not catch divide-by-zero cases in which the turn angle was very small but not quite zero
6 years ago
17f8b89b17
Rover: move mode_from_mode_num to mode.cpp
6 years ago
80e9a54aed
Rover: arming and mode init checks use ekf_position_ok
6 years ago
29782c3d2e
Rover: move AP_Mission object into ModeAuto class
...
This mirrors what we did for Copter
6 years ago
b405286262
Rover: nav-controller-output message sourced from flight mode
...
future change will allow overriding these values so each mode can provide the best value
6 years ago
c9299db3b9
Rover: ignore pilot's input during RC failsafe
6 years ago
0dddc2eafe
Rover: add sailboat tacking
6 years ago
4366bae96d
Rover: add sailboat support
6 years ago
14fc117cd4
Rover: simple mode calcs clarified and const added
7 years ago
efdd3946fc
Rover: simple mode fixes
7 years ago
6ba5942ece
Rover: add simple mode
7 years ago
cd64ce45ac
Rover: fix calc_steering_to_heading rate_max handling
...
units mix up led to deg/s parameter value being applies as rad/s
7 years ago
Randy Mackay
Iampete1
Ari Krupnik
Mark Whitehorn
Guy Rodnay
ashvath100
jbteja
Peter Barker
Peter Hall
Henry Wurzburg
Tom Pittenger
Pierre Kancir
Dr.-Ing. Amilcar do Carmo Lucas
Ebin
TsuyoshiKawamura
Tatsuya Yamaguchi
Ammarf