fc0d703b9b
Rover: much simpler SPEED_TURN_GAIN implementation
...
as soon as we hit the SPEED_TURN_DIST we lower target speed to the
specified gain
11 years ago
ac7f36494b
Rover: use the next navigation course to adjust steering gain in turns
...
this should make waypoints along a straight path not reduce speed
11 years ago
58cfdebcd0
Rover: added BRAKING_SPEEDERR parameter
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this controls how much speed error you need before brakes are used
11 years ago
c6f9627782
Rover: use new channel output API
11 years ago
f4f04ead68
Rover: added BRAKING_PERCENT parameter
...
this allows for reverse throttle to be applied for braking in corners
11 years ago
ce3ed33649
Rover: support 14 RC channels on PX4
11 years ago
59555e8364
Rover: revert next_WP, prev_WP to location structures
11 years ago
4ca3a92655
Rover: Mission integration into command execution
11 years ago
7104bdf855
Rover: support k_steering channel
11 years ago
203073e3ba
Rover: only use pivot steering in AUTO modes
11 years ago
4e2d5043ba
Rover: added PIVOT_TURN_ANGLE parameter
...
this allows skid steering rovers to turn on the spot for sharp turns
11 years ago
37b8686f76
Rover: removed unused code
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thanks to Mike for noticing this
11 years ago
7046f44443
Rover: added basic support for reverse in STEERING mode
...
this will allow for reverse in steering mode, while also fixing a
problem with AHRS yaw when reversing, and a problem with initial
throttle in steering mode
11 years ago
20ae1b7bc3
Rover: removed demo_servos()
...
doesn't do much good on rovers, and just slows boot
11 years ago
44eedd4abd
Rover: update for new AP_SteerController API
12 years ago
d000cd2320
Rover: switched to new steering controller
...
this uses a steering rate controller, based upon the planes roll
controller
12 years ago
887942471e
Rover: use Y accel computed from gyro and velocity
...
this should be less susceptible to noise and attitude errors,
hopefully leading to better learning
12 years ago
ecccc05eed
Rover: added STEERING_LEARN parameter
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when enabled (set to 1) it will learn TURN_CIRCLE based on the
demanded and actual lateral acceleration
12 years ago
97ed733ada
Rover: use L1 controller for navigation
...
this uses the AP_L1_Control library for rover navigation
12 years ago
5b88334dbb
Rover: added full camera and mount support
12 years ago
5a9485a419
Rover: support RCMAP_* mapping for steering/throttle
12 years ago
b58d753344
Rover: make AUTO_TRIGGER_PIN be a push on/push off
12 years ago
b13406859f
Rover: replaced constrain() with constrain_float()
12 years ago
a8d6fa3107
Rover: fixed dataflash logs to be useful
...
added sonar and fixed other messages
12 years ago
a5fdbadcc2
Rover: use get_pid_4500() to prevent PID overflow
...
if users set much too large gains
12 years ago
ad7e8bd9c4
Rover: added SONAR_DEBOUNCE option
...
this allows us to debounce the sonar triggering, which will make it
handle noise better
12 years ago
caaf32211e
Rover: new failsafe logic
...
this obeys FS_TIMEOUT and FS_ACTION
12 years ago
7c4dfa6698
Rover: fixed speed scaling for steering
...
it was inverted!
12 years ago
c76f8a5242
Rover: fixed AUTO_KICKSTART GPIO pin handling
12 years ago
a88ac50e6c
Rover: log the X accel that triggers auto
12 years ago
3bed733f56
Rover: added AUTO_KICKSTART and AUTO_TRIGGER_PIN options
12 years ago
47890dfa72
Rover: added dual sonar support
12 years ago
0e8407ccbd
Rover: put obstacle detection in a structure
...
easier to extend for multiple sonars
12 years ago
0dde0b3551
Rover: initial implementation of skid steering for APMrover2
...
this adds SKID_STEER_IN and SKID_STEER_OUT parameters for controlling
skid skeering control and output
12 years ago
fc0b50dd82
Rover: reduce throttle more directly
...
this gives better throttle control in turns and waypoints
12 years ago
daa603552b
Rover: added new STEERING mode
...
this makes it easier to tune for auto mode
12 years ago
44a279811d
Rover: removed old LITE mode
...
this will be replaced with a AHRS_Lite backend later
12 years ago
582d1c47b3
Rover: added filter to auto steering, and fixed throttle pid
12 years ago
5ee7abd892
Rover: rename Attitude.pde to Steering.pde
12 years ago
f1ff27ed08
Rover: major restructuring
...
this removes a lot of the old arduplane code, and renames a lot of
variables.
This will need a lot more testing and fixup before being usable
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
be39ccf02c
Rover: use new constrain_int16 function
12 years ago
7fbbc388a7
Rover: fixed formatting
12 years ago
b284d4c21e
Rover: first cut at porting rover to AP_HAL
12 years ago
33e47e2036
Rover: set throttle range from -100 to 100
...
this allows for reverse
12 years ago
ff9628accf
Rover: removed some more plane specific variables
12 years ago
a9efe839d6
Rover: copy slew limit code from ArduPlane
12 years ago
92026be9d6
Rover: use slewrate code from ArduPlane
12 years ago
54a722158a
Rover: fixed cliSerial and clean out more gunk
12 years ago
abc0a1cd38
Rover: major update, fixing lots of bugs
...
This removes a lot of the ArduPlane specific cruft left over from the
initial Rover import from ArduPlane, plus fixes a bunch of serious
bugs. For example, the rover was unable to use either compass or gps
for heading - it used just gyros!
There is still a lot of cruft left, but this at least gives a bit
better basis for future work
12 years ago
Andrew Tridgell
Randy Mackay
James Bielman