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Rover: follow uses local desired_yaw_cd 

reducing dependency on shared _desired_yaw_cd with the hope that it can eventually be removed
also minor comment update for desired_yaw_cd
This commit is contained in:
Randy Mackay 2019-05-04 15:40:58 +09:00
parent 2b654983a9
commit 1f2500d268
2 changed files with 3 additions and 6 deletions
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2
APMrover2/mode.h
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@ -205,7 +205,7 @@ protected:
// private members for waypoint navigation
float _distance_to_destination; // distance from vehicle to final destination in meters
bool _reached_destination; // true once the vehicle has reached the destination
float _desired_yaw_cd; // desired yaw in centi-degrees
float _desired_yaw_cd; // desired yaw in centi-degrees. used in Auto, Guided and Loiter
float _desired_speed; // desired speed in m/s
};

7
APMrover2/mode_follow.cpp
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@ -11,9 +11,6 @@ bool ModeFollow::_enter()
// initialise waypoint speed
set_desired_speed_to_default();
// initialise heading to current heading
_desired_yaw_cd = ahrs.yaw_sensor;
return true;
}
@ -64,10 +61,10 @@ void ModeFollow::update()
}
// calculate vehicle heading
_desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
const float desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd);
calc_steering_to_heading(desired_yaw_cd);
calc_throttle(desired_speed, true);
}