c233c3aff3
Rover: integrate OAPathPlanner
6 years ago
c61412d2d1
Rover: correct get_distance_to_destination in loiter mode
6 years ago
93b05d7d8a
Rover: add get_desired_location method
6 years ago
d0a39e6114
Rover: fix notification in guided and rtl
6 years ago
40f3f414cd
Rover: handle AR_WPNav failing to set desired location
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
a798f9eb27
Rover: refactor motor.set_steering() to mode.set_steering()
6 years ago
f91ffffca7
APMrover2: use past_interval_finish_line and line_path_proportion from Location
6 years ago
28ac2c2600
Rover: rename guided limits start_time_ms
6 years ago
95d68b0cf5
Rover: reached_destination becomes const
6 years ago
3f8adb4e7d
Rover: guided-within-auto target moved to structure
...
also guided's limit_breached made const
also guided limit check uses is_positive
6 years ago
89f0418c0f
Rover: support do-guided-limits mission command
6 years ago
721c200bcc
Rover: support guided-within-auto
...
also adds support for sending position targets to offboard controller which is assumed to return velocity commands
6 years ago
36d755a48a
Rover: replace location_offset() and get_distance() function calls with Location object member function calls
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This allows removing duplicated code
6 years ago
2ba6aa7e8a
Rover: guided heading-and-speed control fix
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This removes the lane-based-speed-control from guided mode's heading-and-speed controller which does not use the navigation controller
6 years ago
5575eeddab
Rover: fixed coverity issue around loiter logic
6 years ago
a9781686b1
Rover: Vehicle will stop with loiter in Guided mode for boat.
6 years ago
86168cd180
Rover: add override keyword where required, fix bad method override
6 years ago
743de16c07
Rover: fix calls to calc_steering_to_heading
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reversed flag was being passed into the wrong argument
7 years ago
3ef910ff11
Rover: fix initial target when setting Guided
7 years ago
df3b6202f5
Rover: support DO_SET_REVERSE commands in guided, RTL, SmartRTL
7 years ago
82aba6fe56
Rover: guided heading-and-speed control slows using yaw error
7 years ago
5dc4b8e66d
Rover: guided mode slows to stopping point on init
7 years ago
77598f72d1
Rover: remove redundant set_steering calls from Guided
...
steering is centered within the stop_vehicle method
7 years ago
73bdc3be09
Rover: set ahrs flyforward if thr over 15% for 2 seconds
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or if throttle is positive and desired speed over 0.5m/s
7 years ago
fc35e74821
Rover: pass dt to attitude controller
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
8119c537c7
Rover: integrate vectored thrust support
7 years ago
29e8866ea9
Rover: move avoidance into calc_throttle
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also enable avoidance for steering and guided modes
7 years ago
0da8ff6b2e
Rover: boats always navigate when outside waypoint radius
7 years ago
916fe80000
Rover: remove mode class's desired-lat-accel
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This was a duplicate of the value held in the attitude controller
7 years ago
49493fe6a2
Rover: add calc_steering_to_heading
...
removes some duplicate code in Guided and Auto
7 years ago
b778546eda
Rover: rename mode lateral acceleration and make private
7 years ago
34c2fba9a7
Rover: boats stay active at destination in guided, rtl, smartrtl
7 years ago
57067fb8bc
Rover: add WP_SPEED and RTL_SPEED
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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
c6689fd2e1
Rover: rename calc_nav_steer to calc_steering_from_lateral_acceleration
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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
23028a659b
Rover: slew throttle in all modes
7 years ago
bc7cf97b4e
Rover: don't use GPS speed to detect reversing
...
instead pass reverse to attitude controller based on desired speed
7 years ago
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
d99108f3bc
Rover: use AR_AttitudeControl for throttle control
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also direct throttle nudge replaced with speed nudge
calc_speed_max estimates vehicle's top speed based on cruise-speed and
cruise-throttle
steering mode now provides total target speed instead of using speed plug
throttle nudge
motor limits provided to attitude control to stop i-term buildup
uses negative desired speed instead of reversed flag
reporting to GCS uses new throttle controller
braking is simply enabled and allows a reverse motor output regardless of vehicle
speed
8 years ago
9097269d6d
Rover: use AR_AttitudeControl for steering control
8 years ago
848df551ac
Rover: formatting and comment fixes to mode class
8 years ago
4f5e82f406
Rover: mode fixes for reversing
8 years ago
946a0a8e54
Rover: guided mode refactoring
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add set-desired methods
add get_distance_to_destination
fix to one interation with no update to motors
slow down for turns
8 years ago
ded1bad6c3
Rover: remove duplicate calls from update_navigation()
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calc_lateral_acceleration() and calc_nav_steer() aren't need here
8 years ago
b9644c4ec7
Rover: disable slew limit by default on mode
8 years ago
2a9b1017b6
Rover: add control modes class
8 years ago
Randy Mackay
Peter Barker
Tom Pittenger
Pierre Kancir
Dr.-Ing. Amilcar do Carmo Lucas
TsuyoshiKawamura
Raouf
Daniel Widmann
khancyr