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Rover: use AP_Enum for pilot_steer_type

This commit is contained in:
Peter Barker 2024-09-04 16:33:06 +10:00 committed by Peter Barker
parent 76c43f1f82
commit 10991589a7
2 changed files with 6 additions and 6 deletions
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2
Rover/Parameters.h
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@ -257,7 +257,7 @@ public:
// Throttle // Throttle
// //
AP_Int8 throttle_cruise; AP_Int8 throttle_cruise;
AP_Int8 pilot_steer_type; AP_Enum<PilotSteerType> pilot_steer_type;
// failsafe control // failsafe control
AP_Int8 fs_action; AP_Int8 fs_action;

10
Rover/mode.cpp
View File

@ -123,8 +123,8 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
// check for special case of input and output throttle being in opposite directions // check for special case of input and output throttle being in opposite directions
float throttle_out_limited = g2.motors.get_slew_limited_throttle(throttle_out, rover.G_Dt); float throttle_out_limited = g2.motors.get_slew_limited_throttle(throttle_out, rover.G_Dt);
if ((is_negative(throttle_out) != is_negative(throttle_out_limited)) && if ((is_negative(throttle_out) != is_negative(throttle_out_limited)) &&
((PilotSteerType(g.pilot_steer_type.get()) == PilotSteerType::DEFAULT) || (g.pilot_steer_type == PilotSteerType::DEFAULT ||
(PilotSteerType(g.pilot_steer_type.get()) == PilotSteerType::DIR_REVERSED_WHEN_REVERSING))) { g.pilot_steer_type == PilotSteerType::DIR_REVERSED_WHEN_REVERSING)) {
steering_out *= -1; steering_out *= -1;
} }
throttle_out = throttle_out_limited; throttle_out = throttle_out_limited;
@ -139,8 +139,8 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
// check for special case of input and output throttle being in opposite directions // check for special case of input and output throttle being in opposite directions
float speed_out_limited = g2.attitude_control.get_desired_speed_accel_limited(speed_out, rover.G_Dt); float speed_out_limited = g2.attitude_control.get_desired_speed_accel_limited(speed_out, rover.G_Dt);
if ((is_negative(speed_out) != is_negative(speed_out_limited)) && if ((is_negative(speed_out) != is_negative(speed_out_limited)) &&
((PilotSteerType(g.pilot_steer_type.get()) == PilotSteerType::DEFAULT) || (g.pilot_steer_type == PilotSteerType::DEFAULT ||
(PilotSteerType(g.pilot_steer_type.get()) == PilotSteerType::DIR_REVERSED_WHEN_REVERSING))) { g.pilot_steer_type == PilotSteerType::DIR_REVERSED_WHEN_REVERSING)) {
steering_out *= -1; steering_out *= -1;
} }
speed_out = speed_out_limited; speed_out = speed_out_limited;
@ -167,7 +167,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
float desired_throttle = constrain_float(rover.channel_throttle->norm_input_dz(), -1.0f, 1.0f); float desired_throttle = constrain_float(rover.channel_throttle->norm_input_dz(), -1.0f, 1.0f);
// handle two paddle input // handle two paddle input
if ((PilotSteerType)g.pilot_steer_type.get() == PilotSteerType::TWO_PADDLES) { if (g.pilot_steer_type == PilotSteerType::TWO_PADDLES) {
const float left_paddle = desired_steering; const float left_paddle = desired_steering;
const float right_paddle = desired_throttle; const float right_paddle = desired_throttle;
desired_steering = (left_paddle - right_paddle) * 0.5f; desired_steering = (left_paddle - right_paddle) * 0.5f;