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Rover: fix calls to calc_steering_to_heading

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reversed flag was being passed into the wrong argument
This commit is contained in:
Randy Mackay 2018-09-10 16:25:15 +09:00
parent cd64ce45ac
commit 743de16c07
4 changed files with 4 additions and 4 deletions
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2
APMrover2/mode_auto.cpp
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@ -65,7 +65,7 @@ void ModeAuto::update()
{
if (!_reached_heading) {
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(_desired_speed, true, false);
// check if we have reached within 5 degrees of target
_reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500);

2
APMrover2/mode_follow.cpp
View File

@ -68,6 +68,6 @@ void ModeFollow::update()
_desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, desired_speed < 0);
calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(calc_reduced_speed_for_turn_or_distance(desired_speed), false, true);
}

2
APMrover2/mode_guided.cpp
View File

@ -45,7 +45,7 @@ void ModeGuided::update()
}
if (have_attitude_target) {
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
} else {
stop_vehicle();

2
APMrover2/mode_loiter.cpp
View File

@ -49,6 +49,6 @@ void ModeLoiter::update()
}
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
calc_steering_to_heading(_desired_yaw_cd);
calc_throttle(_desired_speed, false, true);
}