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Rover: Change division to multiplication

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This commit is contained in:
muramura 2024-05-03 04:11:10 +09:00 committed by Randy Mackay
parent 7319422d6c
commit 73443f5575
4 changed files with 9 additions and 9 deletions
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6
Rover/GCS_Mavlink.cpp
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@ -124,11 +124,11 @@ void GCS_MAVLINK_Rover::send_servo_out()
{ {
float motor1, motor3; float motor1, motor3;
if (rover.g2.motors.have_skid_steering()) { if (rover.g2.motors.have_skid_steering()) {
motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleLeft) / 1000.0f); motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleLeft) * 0.001f);
motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleRight) / 1000.0f); motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttleRight) * 0.001f);
} else { } else {
motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_steering) / 4500.0f); motor1 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_steering) / 4500.0f);
motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 100.0f); motor3 = 10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01f);
} }
mavlink_msg_rc_channels_scaled_send( mavlink_msg_rc_channels_scaled_send(
chan, chan,

8
Rover/Rover.cpp
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@ -246,19 +246,19 @@ bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &
control_value = constrain_float(g2.motors.get_walking_height(), -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_walking_height(), -1.0f, 1.0f);
return true; return true;
case AP_Vehicle::ControlOutput::Throttle: case AP_Vehicle::ControlOutput::Throttle:
control_value = constrain_float(g2.motors.get_throttle() / 100.0f, -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_throttle() * 0.01f, -1.0f, 1.0f);
return true; return true;
case AP_Vehicle::ControlOutput::Yaw: case AP_Vehicle::ControlOutput::Yaw:
control_value = constrain_float(g2.motors.get_steering() / 4500.0f, -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_steering() / 4500.0f, -1.0f, 1.0f);
return true; return true;
case AP_Vehicle::ControlOutput::Lateral: case AP_Vehicle::ControlOutput::Lateral:
control_value = constrain_float(g2.motors.get_lateral() / 100.0f, -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_lateral() * 0.01f, -1.0f, 1.0f);
return true; return true;
case AP_Vehicle::ControlOutput::MainSail: case AP_Vehicle::ControlOutput::MainSail:
control_value = constrain_float(g2.motors.get_mainsail() / 100.0f, -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_mainsail() * 0.01f, -1.0f, 1.0f);
return true; return true;
case AP_Vehicle::ControlOutput::WingSail: case AP_Vehicle::ControlOutput::WingSail:
control_value = constrain_float(g2.motors.get_wingsail() / 100.0f, -1.0f, 1.0f); control_value = constrain_float(g2.motors.get_wingsail() * 0.01f, -1.0f, 1.0f);
return true; return true;
default: default:
return false; return false;

2
Rover/mode.cpp
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@ -111,7 +111,7 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
// we proportionally reduce steering and throttle // we proportionally reduce steering and throttle
if (g2.motors.have_skid_steering()) { if (g2.motors.have_skid_steering()) {
const float steer_normalised = constrain_float(steering_out / 4500.0f, -1.0f, 1.0f); const float steer_normalised = constrain_float(steering_out / 4500.0f, -1.0f, 1.0f);
const float throttle_normalised = constrain_float(throttle_out / 100.0f, -1.0f, 1.0f); const float throttle_normalised = constrain_float(throttle_out * 0.01f, -1.0f, 1.0f);
const float saturation_value = fabsf(steer_normalised) + fabsf(throttle_normalised); const float saturation_value = fabsf(steer_normalised) + fabsf(throttle_normalised);
if (saturation_value > 1.0f) { if (saturation_value > 1.0f) {
steering_out /= saturation_value; steering_out /= saturation_value;

2
Rover/mode_guided.cpp
View File

@ -82,7 +82,7 @@ void ModeGuided::update()
} }
if (have_attitude_target) { if (have_attitude_target) {
// run steering and throttle controllers // run steering and throttle controllers
float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f), float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds * 0.01f),
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
rover.G_Dt); rover.G_Dt);