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Rover: fix throttle slew limit for skid steer out

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This commit is contained in:
Pierre Kancir 2017-06-21 13:43:20 +02:00 committed by Randy Mackay
parent d3314d7684
commit 32dc59baec
3 changed files with 11 additions and 22 deletions
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3
APMrover2/Rover.h
View File

@ -281,7 +281,6 @@ private:
// Ground speed
// The amount current ground speed is below min ground speed. meters per second
float ground_speed;
int16_t throttle_last;
int16_t throttle;
// CH7 control
@ -469,7 +468,7 @@ private:
void Log_Arm_Disarm();
void load_parameters(void);
void throttle_slew_limit(int16_t last_throttle);
void throttle_slew_limit(void);
bool auto_check_trigger(void);
bool use_pivot_steering(void);
void calc_throttle(float target_speed);

29
APMrover2/Steering.cpp
View File

@ -3,18 +3,12 @@
/*****************************************
Throttle slew limit
*****************************************/
void Rover::throttle_slew_limit(int16_t last_throttle) {
// if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate && last_throttle != 0) {
// limit throttle change by the given percentage per second
float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
// allow a minimum change of 1 PWM per cycle
if (temp < 1) {
temp = 1;
}
uint16_t pwm;
if (SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, pwm)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, constrain_int16(pwm, last_throttle - temp, last_throttle + temp));
void Rover::throttle_slew_limit(void) {
if (g.throttle_slewrate > 0) {
SRV_Channels::limit_slew_rate(SRV_Channel::k_throttle, g.throttle_slewrate, G_Dt);
if (g.skid_steer_out) {
// when skid steering also limit 2nd channel
SRV_Channels::limit_slew_rate(SRV_Channel::k_steering, g.throttle_slewrate, G_Dt);
}
}
}
@ -284,8 +278,6 @@ void Rover::mix_skid_steering(void)
Set the flight control servos based on the current calculated values
*****************************************/
void Rover::set_servos(void) {
static uint16_t last_throttle;
if (control_mode == MANUAL || control_mode == LEARNING) {
// do a direct pass through of radio values
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->read());
@ -325,13 +317,12 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
}
// limit throttle movement speed
throttle_slew_limit(last_throttle);
}
// record last throttle before we apply skid steering
SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, last_throttle);
if (control_mode != MANUAL && control_mode != LEARNING) {
// limit throttle movement speed
throttle_slew_limit();
}
if (have_skid_steering()) {
mix_skid_steering();

1
APMrover2/system.cpp
View File

@ -293,7 +293,6 @@ void Rover::set_mode(enum mode mode)
}
control_mode = mode;
throttle_last = 0;
throttle = 500;
if (!in_auto_reverse) {
set_reverse(false);