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Rover: fixed throttle control in reverse 

throttle nudge was being miscalculated
This commit is contained in:
Andrew Tridgell 2013-11-25 11:21:15 +11:00
parent e489224c6b
commit 2c840547fa
3 changed files with 18 additions and 5 deletions
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4
APMrover2/APMrover2.pde
View File

@ -869,7 +869,7 @@ static void update_current_mode(void)
// and throttle gives speed in proportion to cruise speed, up // and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that. // to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise; float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
in_reverse = (target_speed < 0); set_reverse(target_speed < 0);
if (in_reverse) { if (in_reverse) {
target_speed = constrain_float(target_speed, -g.speed_cruise, 0); target_speed = constrain_float(target_speed, -g.speed_cruise, 0);
} else { } else {
@ -892,7 +892,7 @@ static void update_current_mode(void)
// mark us as in_reverse when using a negative throttle to // mark us as in_reverse when using a negative throttle to
// stop AHRS getting off // stop AHRS getting off
in_reverse = (channel_throttle->servo_out < 0); set_reverse(channel_throttle->servo_out < 0);
break; break;
case HOLD: case HOLD:

4
APMrover2/radio.pde
View File

@ -53,8 +53,8 @@ static void read_radio()
channel_throttle->servo_out = channel_throttle->control_in; channel_throttle->servo_out = channel_throttle->control_in;
if (channel_throttle->servo_out > 50) { if (abs(channel_throttle->servo_out) > 50) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((channel_throttle->norm_input()-0.5) / 0.5); throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5) / 0.5);
} else { } else {
throttle_nudge = 0; throttle_nudge = 0;
} }

15
APMrover2/system.pde
View File

@ -242,6 +242,19 @@ static void startup_ground(void)
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive.")); gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to drive."));
} }
/*
set the in_reverse flag
reset the throttle integrator if this changes in_reverse
*/
static void set_reverse(bool reverse)
{
if (in_reverse == reverse) {
return;
}
g.pidSpeedThrottle.reset_I();
in_reverse = reverse;
}
static void set_mode(enum mode mode) static void set_mode(enum mode mode)
{ {
@ -252,7 +265,7 @@ static void set_mode(enum mode mode)
control_mode = mode; control_mode = mode;
throttle_last = 0; throttle_last = 0;
throttle = 500; throttle = 500;
in_reverse = false; set_reverse(false);
g.pidSpeedThrottle.reset_I(); g.pidSpeedThrottle.reset_I();
if (control_mode != AUTO) { if (control_mode != AUTO) {