Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: fixed speed scaling for steering

Browse Source 
it was inverted!
This commit is contained in:
Andrew Tridgell 2013-03-29 09:14:58 +11:00
parent caf5e5b7c5
commit 7c4dfa6698
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
APMrover2/Steering.pde
View File

@ -124,8 +124,12 @@ static void calc_throttle(float target_speed)
static void calc_nav_steer()
{
// Adjust gain based on ground speed
nav_gain_scaler = (float)ground_speed / g.speed_cruise;
nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);
if (ground_speed < 0.01) {
nav_gain_scaler = 1.4f;
} else {
nav_gain_scaler = g.speed_cruise / ground_speed;
}
nav_gain_scaler = constrain(nav_gain_scaler, 0.2f, 1.4f);
// Calculate the required turn of the wheels rover
// ----------------------------------------