39418abafb
Rover: use AR_WPNAV_HEADING_UNKNOWN in place of local define
6 years ago
1f2500d268
Rover: follow uses local desired_yaw_cd
...
reducing dependency on shared _desired_yaw_cd with the hope that it can eventually be removed
also minor comment update for desired_yaw_cd
6 years ago
2b654983a9
Rover: yaw_error_cd becomes local variable in Loiter only
6 years ago
c4766ec143
Rover: remove speed_error that is never updated
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
903b2e381b
Rover: GCS can report simple/supersimple input modes
6 years ago
5286b6fab6
Rover: re-order auto mode implementations
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
0f5041e873
Rover: added acro mode to MIS_DONE_BEHAVE
6 years ago
1e033e616f
Rover: Loiter in AUTO mode for boat
6 years ago
ca0374a7af
Rover: do not permit copying of a Mode
6 years ago
a9781686b1
Rover: Vehicle will stop with loiter in Guided mode for boat.
6 years ago
29782c3d2e
Rover: move AP_Mission object into ModeAuto class
...
This mirrors what we did for Copter
6 years ago
452382ff76
Rover: loiter provides bearing to target
6 years ago
6b5ff939f2
Rover: follow provides distance and bearing to target
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
86168cd180
Rover: add override keyword where required, fix bad method override
6 years ago
0dddc2eafe
Rover: add sailboat tacking
6 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
03e0437c19
Rover: fix RTL when AP_RALLY disabled
7 years ago
90fd64cf3a
Rover: add support for rally points
7 years ago
df3b6202f5
Rover: support DO_SET_REVERSE commands in guided, RTL, SmartRTL
7 years ago
ea62c24cef
Rover: Move set_reverse method to Mode class
7 years ago
84bda4e893
Rover: follow mode fixes and improvements
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fix follow endless loop on enter
pass mavlink messages to AP_Follow
separate follow from guided
follow slows based on yaw error
check follow is enabled before entering follow mode
fix order in switch statement when converting from mode number to mode object
remove unused last_log_ms from follow mode
7 years ago
c0082271e6
Rover: implement Follow mode
7 years ago
8464e82812
Rover: set_desired_speed range checks speed
7 years ago
36705af8ff
Rover: create an enumeration to hold vehicle mode constants
...
This gives us type-safety on the mode numbers. This is advantageous as
some of these symbols exist with different values elsewhere in the code.
7 years ago
26c25daa36
Rover: add support for lateral control input
7 years ago
12853f8912
Rover: correct compilation for transitive include fail
7 years ago
2d64a47f90
Rover: add pivot_turn_rate to g2
7 years ago
957458ca56
Rover: add get_pilot_desired_steering_and_speed
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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
6b6c0f04b6
Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise
7 years ago
c6638f66de
Rover: Loiter mode for boats
7 years ago
29e8866ea9
Rover: move avoidance into calc_throttle
...
also enable avoidance for steering and guided modes
7 years ago
572d9ba43b
Rover: Allow switching to ACRO mode for skid steer rovers without GPS
7 years ago
343d119726
Rover: wp nav uses stopping point or prev wp for origin
7 years ago
89c830e949
Rover: make SmartRTL mode decide whether to save position or not
...
This changes things to work like the Copter equivalent
7 years ago
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
e2824be250
Rover: add const and comments to calc_speed_max
7 years ago
5cd500847b
Rover: rename auto_throttle to allows_arming_from_transmitter
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This method is only used to determine whether we can arm from the transmitter so better to make its purpose more clear
Also minor comment fix to is_autopilot_mode method
7 years ago
5167ec7708
Rover: send PID to GCS regardless of mode
...
Also add some comments
7 years ago
Randy Mackay
Tom Pittenger
Peter Barker
Ebin
TsuyoshiKawamura
IamPete1
Ammarf
Raouf
Daniel Widmann