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Rover: calc_steering_to_heading updates yaw error 

this allow the vehicle's speed to be reduced based on the heading error
This commit is contained in:
Randy Mackay 2018-07-07 16:04:54 +09:00
parent 84bda4e893
commit 3b7e84ce7a
1 changed files with 4 additions and 1 deletions
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APMrover2/mode.cpp
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@ -430,7 +430,10 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
// calculate steering output to drive towards desired heading // calculate steering output to drive towards desired heading
void Mode::calc_steering_to_heading(float desired_heading_cd, float rate_max, bool reversed) void Mode::calc_steering_to_heading(float desired_heading_cd, float rate_max, bool reversed)
{ {
// calculate yaw error (in radians) and pass to steering angle controller // calculate yaw error so it can be used for reporting and slowing the vehicle
_yaw_error_cd = wrap_180_cd(desired_heading_cd - ahrs.yaw_sensor);
// call heading controller
const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f), const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f),
rate_max, rate_max,
g2.motors.limit.steer_left, g2.motors.limit.steer_left,