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Rover: improve skid-steer input processing 

limit the steering input
reverse commanded steering value if reversing to be consistent with separate steering-throttle frames
This commit is contained in:
Randy Mackay 2017-07-08 13:52:59 +09:00
parent f8a564f283
commit 03d04c934e
1 changed files with 9 additions and 4 deletions
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13
APMrover2/radio.cpp
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@ -131,10 +131,15 @@ void Rover::read_radio()
motor2 = throttle - 0.5*steering motor2 = throttle - 0.5*steering
*/ */
const float motor1 = channel_steer->norm_input(); const float left_input = channel_steer->norm_input();
const float motor2 = channel_throttle->norm_input(); const float right_input = channel_throttle->norm_input();
const float steering_scaled = motor1 - motor2; const float throttle_scaled = 0.5f * (left_input + right_input);
const float throttle_scaled = 0.5f * (motor1 + motor2); float steering_scaled = constrain_float(left_input - right_input,-1.0f,1.0f);
// flip the steering direction if requesting the vehicle reverse (to be consistent with separate steering-throttle frames)
if (is_negative(throttle_scaled)) {
steering_scaled = -steering_scaled;
}
int16_t steer = channel_steer->get_radio_trim(); int16_t steer = channel_steer->get_radio_trim();
int16_t thr = channel_throttle->get_radio_trim(); int16_t thr = channel_throttle->get_radio_trim();