Mirrors_Framework/ardupilot
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c4d2ae6fa5ccb4e25ff4dcb06eaa7e2aefc582c8
Commit Graph
35 Commits
Author SHA1 Message Date
Clyde McQueen e9dfcf0755 Sub: remove unused function 2026-08-04 13:02:09 +10:00
Andrew Tridgell 687e4aad73 ArduSub: fix build error in Guided_PosVel target accessor 
posvel_pos_target_cm was renamed to posvel_pos_target_neu_cm in #33425
build broken by #33149
 2026-07-16 09:05:47 +10:00
javid 55d08b1b82 ArduSub: report target location in Guided_PosVel submode 
Sub's GCS_MAVLINK::get_target_location() only checked wp_nav, which is
only used by the Guided_WP submode. The Guided_PosVel submode keeps its
own position target in posvel_pos_target_cm, so POSITION_TARGET_GLOBAL_INT
messages stopped being sent whenever a user controlled the vehicle via
SET_POSITION_TARGET_GLOBAL_INT with the posvel typemask.

Add a public accessor on ModeGuided for the PosVel target and dispatch
on guided_mode in get_target_location() so PosVel reports the current
target. Velocity and Angle submodes have no position target to report
and explicitly return false. Non-guided modes (Auto, etc.) keep the
existing wp_nav fallback unchanged.

Fixes #33098
 2026-07-15 13:58:34 -03:00
Clyde McQueen 988d7b01c7 Sub: add _neu and _cm suffixes to variable names as appropriate 2026-06-15 13:22:19 -03:00
Peter BarkerandClaude Haiku 4.5 c1170033f4 ArduSub: Remove inertial_nav 
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-05-09 21:41:19 +10:00
Ryan Friedman f93eb5d1d8 ArduSub: rename check_destination_within_fence to check_location_within_fence 
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
 2026-04-27 09:06:16 +01:00
Aaron Marburg 6eb0174bb5 Sub: When disarmed and in manual mode, set throttle out to neutral value. 
If the sub is disarmed in many modes, the output "throttle" (vertical
control) is set to 0.0, corresponding to full downward thrust.  While
this does not affect manual control, it can affect subsequent mode
changes (e.g. to ALT_HOLD).  Set to a constant NEUTRAL_THROTTLE,
set to 0.5, instead.
 2026-02-05 16:22:30 -03:00
Randy Mackay 8ba67d9eda Sub: integrate ANGLE_MAX move to ATC 2026-01-28 08:45:12 +11:00
Leonard Hall 6419f811f9 Sub: NEU to NED renaming - No compiler change 2025-12-17 08:03:10 +09:00
Leonard Hall 4ca0e51d02 Sub: Emphasise sign of speed and acceleration limits 2025-11-21 13:01:44 +09:00
Leonard Hall 5fdd0dafa3 Sub: AC_PosControl: Correct sign of speed_down_ms to positive 2025-11-21 13:01:44 +09:00
Leonard Hall f43e016d68 Sub: Naming Change No compiler change 2025-11-14 10:01:37 +11:00
Leonard Hall b975ffb029 Sub: Convert to postype 2025-09-26 10:35:25 +09:00
Leonard Hall 5dbe7b9d7a Copter: Convert Mode Auto to meters 2025-08-13 11:06:41 +09:00
Leonard Hall 4f6b492d94 Sub: Address PR feedback 2025-08-05 11:04:37 +09:00
Leonard Hall c52a95b7d2 Copter: Guided: Fix/Add units and axis 2025-08-05 11:04:37 +09:00
Leonard Hall 071ddb88ff Sub: AC_PosControl: Fix units on set_correction_speed_accel_U 2025-08-05 11:04:37 +09:00
Leonard Hall 4819ea342a Sub: Support - AP_Math: Remove units on get_horizontal_distance 2025-07-17 09:12:37 +09:00
Leonard Hall cba72b694c Sub: Support - AC_PosControl: Add units to dt 2025-07-07 13:39:08 +09:00
Leonard Hall d5323d84b4 Sub: Add units to Sub attitude functions 2025-06-18 20:34:26 +09:00
Peter Barker 6861848613 ArduSub: rename AHRS get_roll etc accessors to include _rad 2025-06-05 17:28:41 +10:00
Peter Barker 3d6d163f97 ArduSub: replace ToRad with radians and ToDeg with degrees 2025-05-29 11:24:56 +10:00
Leonard Hall a151aadd3e Sub: add units and frames to AC_WPNav methods 
Sub
 2025-05-02 21:47:07 +10:00
Leonard Hall e9cbd59621 Sub: add units and frames to AC_AttitudeControl methods 2025-04-29 08:54:14 +09:00
Leonard HallandPeter Barker 1eed87b267 ArduSub: add units and frames to AC_AttitudeControl methods 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2025-04-23 10:02:29 +10:00
Leonard Hall 6db90646b9 Sub: updates for offset handling 2024-10-04 09:25:56 +09:00
Clyde McQueen 075a5c3cee Sub: reject guided mode destinations early 2024-09-18 12:32:55 -03:00
Clyde McQueen 9cf63a5407 Sub: fully init yaw control on guided submode start 2024-09-18 12:32:55 -03:00
Peter Barker 852944a1b1 Sub: correct compilation when HAL_LOGGING_ENABLED is false 2024-01-17 18:25:55 +11:00
Rakesh Vivekanandan 1127d1e678 Sub: Guided Mode: Improved guided_set_destination_posvel() to support handling of yaw control. 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan 79bf9dd05d Sub: Guided Mode: Improved guided_set_velocity() and fixed Z-controller in guided_vel_control_run() 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan d77ac1ae72 Sub: Guided Mode: Improved guided_set_destination() such that it can accept a desired yaw/yaw rate as input along with a position setpoint. 2023-07-28 15:38:01 -03:00
Rakesh Vivekanandan 6a36c05e4e Sub: Guided Mode: Helper function guided_set_yaw_state() to set yaw state and targets when the vehicle is in guided mode. 2023-07-28 12:04:54 -03:00
Rakesh Vivekanandan d8b171e52b Sub: Introduced AUTO_YAW_RATE mode and its features. 2023-07-27 10:24:59 -03:00
Willian Galvani 7ebe3c4bf1 Sub: rename mode files from control_ to mode_ 2023-07-13 14:56:40 -03:00