mirror of https://github.com/ArduPilot/ardupilot
Rover: improve skid-steer input processing
limit the steering input reverse commanded steering value if reversing to be consistent with separate steering-throttle frames
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@ -131,10 +131,15 @@ void Rover::read_radio()
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motor2 = throttle - 0.5*steering
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*/
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const float motor1 = channel_steer->norm_input();
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const float motor2 = channel_throttle->norm_input();
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const float steering_scaled = motor1 - motor2;
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const float throttle_scaled = 0.5f * (motor1 + motor2);
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const float left_input = channel_steer->norm_input();
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const float right_input = channel_throttle->norm_input();
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const float throttle_scaled = 0.5f * (left_input + right_input);
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float steering_scaled = constrain_float(left_input - right_input,-1.0f,1.0f);
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// flip the steering direction if requesting the vehicle reverse (to be consistent with separate steering-throttle frames)
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if (is_negative(throttle_scaled)) {
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steering_scaled = -steering_scaled;
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}
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int16_t steer = channel_steer->get_radio_trim();
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int16_t thr = channel_throttle->get_radio_trim();
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