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
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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
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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
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This mirrors what we did for Copter
6 years ago
b405286262
Rover: nav-controller-output message sourced from flight mode
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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
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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
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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
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
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
f7a168478d
Rover: integrate attitude control's get_steering_out_heading
7 years ago
e8070a5cb3
Rover: pass waypoint radius to L1 as min dist along track
7 years ago
41bd79a387
Rover: pivot-turn uses heading controller
7 years ago
00353c7a06
Rover: avoid divide by zero in desired speed at waypoint calcs
7 years ago
343d119726
Rover: wp nav uses stopping point or prev wp for origin
7 years ago
e3f70119fe
Rover: fix two-paddle input decoding
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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
4e8399ca3f
Rover: acro and steering steer even with target speed of zero
7 years ago
a5d7b8bb19
Rover: remove unused definition
7 years ago
9cba1e2907
Rover: gps check replaced by requires-position, requires-velocity
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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
6ce9b47807
Rover: calc_speed_nudge honours max speed even in reverse
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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
e2824be250
Rover: add const and comments to calc_speed_max
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
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removes some duplicate code in Guided and Auto
7 years ago
1d3e7d454a
Rover: correct gps-is-healthy mode change check
7 years ago
Pierre Kancir
Dr.-Ing. Amilcar do Carmo Lucas
Ebin
Randy Mackay
TsuyoshiKawamura
Peter Barker
Tatsuya Yamaguchi
IamPete1
Ammarf
Raouf
jeff567