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AR_Motors: fix have_skid_steering to return true for omni too

This commit is contained in:
Shiv Tyagi 2022-09-03 22:24:11 +05:30 committed by Randy Mackay
parent e06a0c6876
commit 560b2545c8
2 changed files with 7 additions and 8 deletions
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12
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -135,7 +135,7 @@ void AP_MotorsUGV::init(uint8_t frtype)
setup_safety_output();
// setup for omni vehicles
if (_frame_type != FRAME_TYPE_UNDEFINED) {
if (is_omni()) {
setup_omni();
}
}
@ -266,11 +266,7 @@ float AP_MotorsUGV::get_slew_limited_throttle(float throttle, float dt) const
*/
bool AP_MotorsUGV::have_skid_steering() const
{
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return true;
}
return false;
return (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) && SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) || is_omni();
}
// true if the vehicle has a mainsail
@ -779,8 +775,8 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
// output for omni frames
void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float lateral)
{
// exit immediately if the frame type is set to UNDEFINED
if (_frame_type == FRAME_TYPE_UNDEFINED) {
// exit immediately if the vehicle is not omni
if (!is_omni()) {
return;
}

3
libraries/AR_Motors/AP_MotorsUGV.h
View File

@ -112,6 +112,9 @@ public:
// returns true if the configured PWM type is digital and should have fixed endpoints
bool is_digital_pwm_type() const;
// returns true if the vehicle is omni
bool is_omni() const { return _frame_type != FRAME_TYPE_UNDEFINED && _motors_num > 0; }
// structure for holding motor limit flags
struct AP_MotorsUGV_limit {
uint8_t steer_left : 1; // we have reached the steering controller's left most limit