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Rover: fixed skid steering 

the main issue was the use of the last throttle in the throttle slew
rate control, but manual skid steering was also broken
This commit is contained in:
Andrew Tridgell 2014-10-09 08:59:26 +11:00
parent 8eba55ed67
commit 1721216019
1 changed files with 25 additions and 23 deletions
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12
APMrover2/Steering.pde
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@ -6,7 +6,7 @@
static void throttle_slew_limit(int16_t last_throttle)
{
// if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate) {
if (g.throttle_slewrate && last_throttle != 0) {
// limit throttle change by the given percentage per second
float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->radio_max - channel_throttle->radio_min);
// allow a minimum change of 1 PWM per cycle
@ -208,13 +208,12 @@ static void calc_nav_steer()
*****************************************/
static void set_servos(void)
{
int16_t last_throttle = channel_throttle->radio_out;
static int16_t last_throttle;
// support a separate steering channel
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_steer->pwm_to_angle_dz(0));
if ((control_mode == MANUAL || control_mode == LEARNING) &&
(g.skid_steer_out == g.skid_steer_in)) {
if (control_mode == MANUAL || control_mode == LEARNING) {
// do a direct pass through of radio values
channel_steer->radio_out = channel_steer->read();
channel_throttle->radio_out = channel_throttle->read();
@ -244,6 +243,10 @@ static void set_servos(void)
// limit throttle movement speed
throttle_slew_limit(last_throttle);
}
// record last throttle before we apply skid steering
last_throttle = channel_throttle->radio_out;
if (g.skid_steer_out) {
// convert the two radio_out values to skid steering values
@ -263,7 +266,6 @@ static void set_servos(void)
channel_steer->calc_pwm();
channel_throttle->calc_pwm();
}
}
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS