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Rover: enable avoidance in auto, RTL, smartRTL

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This commit is contained in:
Randy Mackay 2018-12-10 11:43:43 +09:00
parent 66a2c10203
commit 17af4c8933
3 changed files with 5 additions and 5 deletions
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4
APMrover2/mode_auto.cpp
View File

@ -53,7 +53,7 @@ void ModeAuto::update()
if (!_reached_destination || (rover.is_boat() && !near_wp)) { if (!_reached_destination || (rover.is_boat() && !near_wp)) {
// continue driving towards destination // continue driving towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed); calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false); calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else { } else {
// we have reached the destination so stop // we have reached the destination so stop
stop_vehicle(); stop_vehicle();
@ -66,7 +66,7 @@ void ModeAuto::update()
if (!_reached_heading) { if (!_reached_heading) {
// run steering and throttle controllers // run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd); calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(_desired_speed, true, false); calc_throttle(_desired_speed, true, true);
// check if we have reached within 5 degrees of target // check if we have reached within 5 degrees of target
_reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500); _reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500);
} else { } else {

2
APMrover2/mode_rtl.cpp
View File

@ -37,7 +37,7 @@ void ModeRTL::update()
if (!_reached_destination || (rover.is_boat() && !near_wp)) { if (!_reached_destination || (rover.is_boat() && !near_wp)) {
// continue driving towards destination // continue driving towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination, _reversed); calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false); calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else { } else {
// we've reached destination so stop // we've reached destination so stop
stop_vehicle(); stop_vehicle();

4
APMrover2/mode_smart_rtl.cpp
View File

@ -65,7 +65,7 @@ void ModeSmartRTL::update()
} }
// continue driving towards destination // continue driving towards destination
calc_steering_to_waypoint(_origin, _destination, _reversed); calc_steering_to_waypoint(_origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false); calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
break; break;
case SmartRTL_StopAtHome: case SmartRTL_StopAtHome:
@ -74,7 +74,7 @@ void ModeSmartRTL::update()
if (rover.is_boat()) { if (rover.is_boat()) {
// boats attempt to hold position at home // boats attempt to hold position at home
calc_steering_to_waypoint(rover.current_loc, _destination, _reversed); calc_steering_to_waypoint(rover.current_loc, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false); calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else { } else {
// rovers stop // rovers stop
stop_vehicle(); stop_vehicle();