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Rover: acro and steering steer even with target speed of zero

This commit is contained in:
Randy Mackay 2018-02-19 12:29:49 +11:00
parent 36fab0209e
commit 4e8399ca3f
3 changed files with 13 additions and 19 deletions
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10
APMrover2/mode.cpp
View File

@ -172,7 +172,15 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed)
}
// call throttle controller and convert output to -100 to +100 range
float throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f);
float throttle_out;
// call speed or stop controller
if (is_zero(target_speed)) {
bool stopped;
throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, stopped);
} else {
throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f);
}
// send to motor
g2.motors.set_throttle(throttle_out);

9
APMrover2/mode_acro.cpp
View File

@ -22,15 +22,6 @@ void ModeAcro::update()
// convert pilot steering input to desired turn rate in radians/sec
const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate);
// determine if pilot is requesting pivot turn
const bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering));
// stop vehicle if target speed is zero and not pivot turning
if (is_zero(target_speed) && !is_pivot_turning) {
stop_vehicle();
return;
}
// set reverse flag backing up
const bool reversed = is_negative(target_speed);
rover.set_reverse(reversed);

13
APMrover2/mode_steering.cpp
View File

@ -50,14 +50,9 @@ void ModeSteering::update()
// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
// run speed to throttle output controller
if (is_zero(target_speed) && !is_pivot_turning) {
stop_vehicle();
} else {
// run lateral acceleration to steering controller
calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);
// run lateral acceleration to steering controller
calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);
// run speed to throttle controller
calc_throttle(target_speed, false);
}
// run speed to throttle controller
calc_throttle(target_speed, false);
}