1721216019
Rover: fixed skid steering
...
the main issue was the use of the last throttle in the throttle slew
rate control, but manual skid steering was also broken
10 years ago
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
...
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
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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
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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
Andrew Tridgell
Randy Mackay
James Bielman