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AP_MotorsUGV: steering limits and constraint done by each output handler

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each motor output handler (regular, skid, omni) becomes responsible for constraining the steering input (if required) and setting the limits flags
it is possible to reduce duplicate code but I think it might be more important to keep it clear which level is responsible for the limiting and constraining of steering
This commit is contained in:
Randy Mackay 2018-06-08 10:50:12 +09:00
parent 95eda5d9b7
commit 5faff519c3
1 changed files with 21 additions and 4 deletions
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25
APMrover2/AP_MotorsUGV.cpp
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@ -161,7 +161,7 @@ void AP_MotorsUGV::setup_servo_output()
// no scaling by speed or angle should be performed
void AP_MotorsUGV::set_steering(float steering, bool apply_scaling)
{
_steering = constrain_float(steering, -4500.0f, 4500.0f);
_steering = steering;
_scale_steering = apply_scaling;
}
@ -230,9 +230,6 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
// sanity check parameters
sanity_check_parameters();
// clear and set limits based on input (limit flags may be set again by output_regular or output_skid_steering methods)
set_limits_from_input(armed, _steering, _throttle);
// slew limit throttle
slew_limit_throttle(dt);
@ -465,6 +462,13 @@ void AP_MotorsUGV::output_regular(bool armed, float ground_speed, float steering
}
}
// clear and set limits based on input
// we do this here because vectored thrust or speed scaling may have reduced steering request
set_limits_from_input(armed, steering, throttle);
// constrain steering
steering = constrain_float(steering, -4500.0f, 4500.0f);
// always allow steering to move
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering);
}
@ -475,6 +479,13 @@ void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float
if (!has_lateral_control()) {
return;
}
// clear and set limits based on input
set_limits_from_input(armed, steering, throttle);
// constrain steering
steering = constrain_float(steering, -4500.0f, 4500.0f);
if (armed) {
// scale throttle, steering and lateral to -1 ~ 1
const float scaled_throttle = throttle / 100.0f;
@ -527,6 +538,12 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
return;
}
// clear and set limits based on input
set_limits_from_input(armed, steering, throttle);
// constrain steering
steering = constrain_float(steering, -4500.0f, 4500.0f);
// handle simpler disarmed case
if (!armed) {
if (_disarm_disable_pwm) {