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Rover: minor fixes for reversed handling

This commit is contained in:
Randy Mackay 2018-08-22 13:46:35 +09:00
parent df3b6202f5
commit 289fe6c391
3 changed files with 12 additions and 12 deletions
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18
APMrover2/GCS_Mavlink.cpp
View File

@ -537,14 +537,6 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_SET_REVERSE:
// param1 : Direction (0=Forward, 1=Reverse)
if (is_equal(packet.param1, 1.0f)) {
rover.control_mode->set_reversed(1);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_HOME: {
// assume failure
if (is_equal(packet.param1, 1.0f)) {
@ -587,6 +579,11 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_DO_SET_REVERSE:
// param1 : Direction (0=Forward, 1=Reverse)
rover.control_mode->set_reversed(is_equal(packet.param1,1.0f));
return MAV_RESULT_ACCEPTED;
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
@ -727,6 +724,11 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
return MAV_RESULT_FAILED;
}
case MAV_CMD_DO_SET_REVERSE:
// param1 : Direction (0=Forward, 1=Reverse)
rover.control_mode->set_reversed(is_equal(packet.param1,1.0f));
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_SET_YAW_SPEED:
{
// param1 : yaw angle to adjust direction by in centidegress

2
APMrover2/commands_logic.cpp
View File

@ -418,5 +418,5 @@ void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
{
rover.control_mode->set_reversed(cmd.p1 == 1);
control_mode->set_reversed(cmd.p1 == 1);
}

4
APMrover2/mode.cpp
View File

@ -229,9 +229,7 @@ bool Mode::set_desired_speed(float speed)
// execute the mission in reverse (i.e. backing up)
void Mode::set_reversed(bool value)
{
if (_reversed != value) {
_reversed = value;
}
_reversed = value;
}
void Mode::calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled)