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Rover: simplify logic for lateral-accel override during use-pivot-steering

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It was theoretically possible that the lateral-acceleration would not be overwritten if the yaw-error-cd was exactly zero
This commit is contained in:
Randy Mackay 2017-11-01 11:12:39 +09:00
parent 2b0645d6a1
commit 7e2214c2be
1 changed files with 2 additions and 3 deletions
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APMrover2/mode.cpp
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@ -205,10 +205,9 @@ void Mode::calc_lateral_acceleration(const struct Location &origin, const struct
_yaw_error_cd = wrap_180_cd(rover.nav_controller->target_bearing_cd() - ahrs.yaw_sensor);
}
if (rover.use_pivot_steering(_yaw_error_cd)) {
if (is_positive(_yaw_error_cd)) {
if (_yaw_error_cd >= 0.0f) {
lateral_acceleration = g.turn_max_g * GRAVITY_MSS;
}
if (is_negative(_yaw_error_cd)) {
} else {
lateral_acceleration = -g.turn_max_g * GRAVITY_MSS;
}
}