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Rover: remove g.skid_steer_out in favor of have_skid_steering()

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This commit is contained in:
Pierre Kancir 2017-06-20 14:55:54 +02:00 committed by Randy Mackay
parent 1dcf90c161
commit 41e18f089e
2 changed files with 7 additions and 10 deletions
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13
APMrover2/Steering.cpp
View File

@ -6,7 +6,7 @@
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) {
if (have_skid_steering()) {
// when skid steering also limit 2nd channel
SRV_Channels::limit_slew_rate(SRV_Channel::k_steering, g.throttle_slewrate, G_Dt);
}
@ -99,7 +99,7 @@ void Rover::calc_throttle(float target_speed) {
if (!auto_check_trigger() || in_stationary_loiter()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
// Stop rotation in case of loitering and skid steering
if (g.skid_steer_out) {
if (have_skid_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
return;
@ -254,7 +254,7 @@ void Rover::mix_skid_steering(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 1000.0f * motor2);
// now old style skid steering with skid_steer_out
if (g.skid_steer_out) {
if (have_skid_steering()) {
// convert the two radio_out values to skid steering values
/*
mixing rule:
@ -327,7 +327,7 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
if (g.skid_steer_out) {
if (have_skid_steering()) {
SRV_Channels::set_output_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
}
break;
@ -337,7 +337,7 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
if (g.skid_steer_out) {
if (have_skid_steering()) {
SRV_Channels::set_output_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
break;
@ -358,9 +358,6 @@ void Rover::set_servos(void) {
*/
bool Rover::have_skid_steering(void)
{
if (g.skid_steer_out) {
return true;
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return true;

4
APMrover2/radio.cpp
View File

@ -23,7 +23,7 @@ void Rover::set_control_channels(void)
// For a rover safety is TRIM throttle
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
if (g.skid_steer_out) {
if (have_skid_steering()) {
SRV_Channels::set_safety_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
}
@ -57,7 +57,7 @@ void Rover::init_rc_out()
// full speed backward.
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
if (g.skid_steer_out) {
if (have_skid_steering()) {
SRV_Channels::set_safety_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
}