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Rover: loiter: sailboats don't try and sail directly into the wind

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Iampete1 2022-03-02 23:54:22 +00:00 committed by Randy Mackay
parent 041b2b594b
commit 26a804eec7
1 changed files with 13 additions and 1 deletions
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14
Rover/mode_loiter.cpp
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@ -56,8 +56,20 @@ void ModeLoiter::update()
_desired_speed *= yaw_error_ratio; _desired_speed *= yaw_error_ratio;
} }
// 0 turn rate is no limit
float turn_rate = 0.0;
// make sure sailboats don't try and sail directly into the wind
if (g2.sailboat.use_indirect_route(_desired_yaw_cd)) {
_desired_yaw_cd = g2.sailboat.calc_heading(_desired_yaw_cd);
if (g2.sailboat.tacking()) {
// use pivot turn rate for tacks
turn_rate = g2.wp_nav.get_pivot_rate();
}
}
// run steering and throttle controllers // run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd); calc_steering_to_heading(_desired_yaw_cd, turn_rate);
calc_throttle(_desired_speed, true); calc_throttle(_desired_speed, true);
} }