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
a5e28f0729
Rover: balancebot_pitch_control method removes unused armed arg
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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
7 years ago
8b9b1fdb66
Rover: set reverse to false on entering a mode
7 years ago
289fe6c391
Rover: minor fixes for reversed handling
7 years ago
ea62c24cef
Rover: Move set_reverse method to Mode class
7 years ago
6dcab4e87b
Rover: support balance bot in AUTO mdoe
7 years ago
3b7e84ce7a
Rover: calc_steering_to_heading updates yaw error
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this allow the vehicle's speed to be reduced based on the heading error
7 years ago
200a644cfe
Rover: fixes bug in rovers with pivot turning
7 years ago
2780d1715c
Rover: balance bot pitch control added in all modes
7 years ago
8464e82812
Rover: set_desired_speed range checks speed
7 years ago
645edf1f57
Rover: wp_overshoot used to limit speed in Auto
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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
26c25daa36
Rover: add support for lateral control input
7 years ago
fc35e74821
Rover: pass dt to attitude controller
7 years ago
444e64a3d0
Rover: slow before pivot turns
7 years ago
d7821635c0
Rover: seperate acceleration/deceleration limits
7 years ago
2d64a47f90
Rover: add pivot_turn_rate to g2
7 years ago
0a29e4eac5
Rover: fix calc-steering-to-waypoint go use real heading without reverse
7 years ago
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
ef2223a712
Rover: integrate attitude control change to steering output and scaling
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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
6b6c0f04b6
Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise
7 years ago
Henry Wurzburg
Peter Hall
Randy Mackay
Tom Pittenger
Peter Barker
Pierre Kancir
Dr.-Ing. Amilcar do Carmo Lucas
Ebin
TsuyoshiKawamura
Tatsuya Yamaguchi
Ammarf
Raouf
jeff567