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Rover: get_pilot_desired_steering_and_throttle returns steering assuming positive is always clockwise

This commit is contained in:
Randy Mackay 2018-05-03 17:57:40 +09:00
parent a061203eaf
commit 6b6c0f04b6
2 changed files with 10 additions and 13 deletions
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20
APMrover2/mode.cpp
View File

@ -44,6 +44,9 @@ bool Mode::enter()
return _enter();
}
// decode pilot steering held in channel_steer, channel_throttle and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out)
{
// no RC input means no throttle and centered steering
@ -57,11 +60,12 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
switch ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get())
{
case PILOT_STEER_TYPE_DEFAULT:
case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
default: {
// by default regular and skid-steering vehicles reverse their rotation direction when backing up
// (this is the same as PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING below)
throttle_out = rover.channel_throttle->get_control_in();
steering_out = rover.channel_steer->get_control_in();
const float steering_dir = is_negative(throttle_out) ? -1 : 1;
steering_out = steering_dir * rover.channel_steer->get_control_in();
break;
}
@ -74,21 +78,13 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
const float right_paddle = rover.channel_throttle->norm_input();
throttle_out = 0.5f * (left_paddle + right_paddle) * 100.0f;
const float steering_dir = is_negative(throttle_out) ? -1 : 1;
steering_out = steering_dir * (left_paddle - right_paddle) * 0.5f * 4500.0f;
steering_out = (left_paddle - right_paddle) * 0.5f * 4500.0f;
break;
}
case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
throttle_out = rover.channel_throttle->get_control_in();
steering_out = rover.channel_steer->get_control_in();
break;
case PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING: {
throttle_out = rover.channel_throttle->get_control_in();
const float steering_dir = is_negative(throttle_out) ? -1 : 1;
steering_out = steering_dir * rover.channel_steer->get_control_in();
steering_out = rover.channel_steer->get_control_in();
break;
}
}

3
APMrover2/mode.h
View File

@ -102,7 +102,8 @@ protected:
virtual void _exit() { return; }
// decode pilot steering held in channel_steer, channel_throttle and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500, throttle_out is in the range -100 ~ +100
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100
void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out);
// calculate steering output to drive along line from origin to destination waypoint