Tree: 80753430e8

AP_Periph-1.3

Copter-4.2

Copter-4.2-BW

apm_2208

apm_2208-rover

apm_2208-rover-debug

c421

copter407

gps-1.3.1

main

master

master_rangefinder

mission-4.1.18

periph-1.3.1

release-4.2.3

rover_4.3

zr-sdk-4.3.1

zr-v5.0

zr-v5.1

zr/Rover-4.3

zr/main-4.3

zr_rover4.2

数字绿土/zr-v5.0

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Commit Graph

59 Commits (80753430e8da2f4cf841d109243a23d50d0409f2)

Author	SHA1	Message	Date
Raouf	ea62c24cef	Rover: Move set_reverse method to Mode class	7 years ago
Ebin	6dcab4e87b	Rover: support balance bot in AUTO mdoe	7 years ago
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	7 years ago
jeff567	200a644cfe	Rover: fixes bug in rovers with pivot turning	7 years ago
Ebin	2780d1715c	Rover: balance bot pitch control added in all modes	7 years ago
Randy Mackay	8464e82812	Rover: set_desired_speed range checks speed	7 years ago
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	7 years ago
Ammarf	26c25daa36	Rover: add support for lateral control input	7 years ago
Randy Mackay	fc35e74821	Rover: pass dt to attitude controller	7 years ago
Randy Mackay	444e64a3d0	Rover: slow before pivot turns	7 years ago
Ammarf	d7821635c0	Rover: seperate acceleration/deceleration limits	7 years ago
Ammarf	2d64a47f90	Rover: add pivot_turn_rate to g2	7 years ago
Randy Mackay	0a29e4eac5	Rover: fix calc-steering-to-waypoint go use real heading without reverse	7 years ago
Randy Mackay	957458ca56	Rover: add get_pilot_desired_steering_and_speed ... Also fix reversed steering response where throttle or acceleration limiting leads to throttle output being in the opposite direction from pilot's throttle input	7 years ago
Randy Mackay	ef2223a712	Rover: integrate attitude control change to steering output and scaling ... steering output is always positive for clockwise steering is scaled in motors library meaning we do not need to tell attitude controller about skid-steering or vectored-thrust	7 years ago
Randy Mackay	6b6c0f04b6	Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise	7 years ago
Randy Mackay	8119c537c7	Rover: integrate vectored thrust support	7 years ago
Randy Mackay	29e8866ea9	Rover: move avoidance into calc_throttle ... also enable avoidance for steering and guided modes	7 years ago
Randy Mackay	f7a168478d	Rover: integrate attitude control's get_steering_out_heading	7 years ago
Randy Mackay	e8070a5cb3	Rover: pass waypoint radius to L1 as min dist along track	7 years ago
Randy Mackay	41bd79a387	Rover: pivot-turn uses heading controller	7 years ago
Randy Mackay	00353c7a06	Rover: avoid divide by zero in desired speed at waypoint calcs	7 years ago
Randy Mackay	343d119726	Rover: wp nav uses stopping point or prev wp for origin	7 years ago
Randy Mackay	e3f70119fe	Rover: fix two-paddle input decoding ... steering output was twice what it should be. full steering (i.e. 4500 or -4500) should occur when one paddle is up and the other is completely down	7 years ago
Randy Mackay	4e8399ca3f	Rover: acro and steering steer even with target speed of zero	7 years ago
Randy Mackay	a5d7b8bb19	Rover: remove unused definition	7 years ago
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	7 years ago
Randy Mackay	6ce9b47807	Rover: calc_speed_nudge honours max speed even in reverse ... calc_speed_nudge allows the pilot to increase the speed of the vehicle including cases when the vehicle is in reverse. This fixes the nudging code so the pilot-nudged throttle does not surpass the vehicle's maximum speed even in reverse. Thanks to pavloblindnology for finding this!	7 years ago
Randy Mackay	e2824be250	Rover: add const and comments to calc_speed_max	7 years ago
Randy Mackay	916fe80000	Rover: remove mode class's desired-lat-accel ... This was a duplicate of the value held in the attitude controller	7 years ago
Randy Mackay	49493fe6a2	Rover: add calc_steering_to_heading ... removes some duplicate code in Guided and Auto	7 years ago
Peter Barker	1d3e7d454a	Rover: correct gps-is-healthy mode change check	7 years ago
Randy Mackay	b778546eda	Rover: rename mode lateral acceleration and make private	7 years ago
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)	7 years ago
Randy Mackay	9f94875228	Rover: mode class gets set_desired_location_NED	7 years ago
Peter Barker	5612292802	Rover: allow vehicle to be armed in manual with no GPS	7 years ago
Peter Barker	68800a52f5	Rover: move RC failsafe check up ... Both steering and acro modes can benefit from this check	7 years ago
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	7 years ago
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	7 years ago
Randy Mackay	23028a659b	Rover: slew throttle in all modes	7 years ago
Randy Mackay	7e2214c2be	Rover: simplify logic for lateral-accel override during use-pivot-steering ... It was theoretically possible that the lateral-acceleration would not be overwritten if the yaw-error-cd was exactly zero	7 years ago
khancyr	2b0645d6a1	Rover: get_throttle_out calls do not require skid-steering arg	7 years ago
Daniel Widmann	bc7cf97b4e	Rover: don't use GPS speed to detect reversing ... instead pass reverse to attitude controller based on desired speed	7 years ago
Randy Mackay	ea70755f00	Rover: fix speed nudge ... fix bug when target speed was exactly zero which caused nudge to be a large negative value	7 years ago
khancyr	2ceb29e9da	Rover: use abs for int within calc_speed_nudge ... same issue resoled for log-write-nav-tuning	8 years ago
khancyr	58b643c458	Rover: replace divide with multiply in calc_throttle ... non functional change	8 years ago
Randy Mackay	c9927e6af6	Rover: bug fix to steering mode top speed ... Also non-functional change to calc_throttle to make call to calc_speed_nudge consistent	8 years ago
Randy Mackay	167a856cdb	Rover: remove THR_MIN, THR_MAX parameters from vehicle ... enforcing these limits is now handled by AP_MotorsUGV class	8 years ago
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	8 years ago
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.	8 years ago