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Rover: fixed bug when reverse throttle would increase speed in AUTO 

Fixed this bug
https://github.com/diydrones/ardupilot/issues/840
If a Rover was in AUTO and the user moved the throttle stick into
reverse past 50% the rover would increase.  Basically the throttle
nudge behaviour was the same regardless of whether you moved the
throttle forward or backward.
This commit is contained in:
Grant Morphett 2015-08-06 12:18:01 +10:00 committed by Andrew Tridgell
parent c24ba83fb1
commit 103119fe9a
1 changed files with 7 additions and 2 deletions
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9
APMrover2/radio.cpp
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@ -55,8 +55,13 @@ void Rover::read_radio()
channel_throttle->servo_out = channel_throttle->control_in;
if (abs(channel_throttle->servo_out) > 50) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
// Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling
if ((abs(channel_throttle->servo_out) > 50) &&
(((channel_throttle->servo_out < 0) && in_reverse) ||
((channel_throttle->servo_out > 0) && !in_reverse))) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
} else {
throttle_nudge = 0;
}