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Rover: Allow switching to ACRO mode for skid steer rovers without GPS

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Daniel Widmann 2018-04-11 12:48:25 -07:00 committed by Randy Mackay
parent 27234f78c6
commit 572d9ba43b
2 changed files with 7 additions and 2 deletions
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4
APMrover2/mode.h
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@ -176,9 +176,9 @@ public:
// attributes for mavlink system status reporting // attributes for mavlink system status reporting
bool has_manual_input() const override { return true; } bool has_manual_input() const override { return true; }
// acro mode requires a velocity estimate // acro mode requires a velocity estimate for non skid-steer rovers
bool requires_position() const override { return false; } bool requires_position() const override { return false; }
bool requires_velocity() const override { return true; } bool requires_velocity() const override;
}; };

5
APMrover2/mode_acro.cpp
View File

@ -41,3 +41,8 @@ void ModeAcro::update()
calc_throttle(target_speed, false); calc_throttle(target_speed, false);
} }
} }
bool ModeAcro::requires_velocity() const
{
return g2.motors.have_skid_steering()? false: true;
}