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Rover: balance bots continue balancing when stopped

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Ebin 2018-12-13 13:24:02 +05:30 committed by Randy Mackay
parent e806d0c385
commit 85c3286c6e
1 changed files with 6 additions and 3 deletions
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9
APMrover2/mode.cpp
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@ -309,7 +309,7 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_
float throttle_out;
// call speed or stop controller
if (is_zero(target_speed)) {
if (is_zero(target_speed) && !rover.is_balancebot()) {
bool stopped;
throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt, stopped);
} else {
@ -333,11 +333,14 @@ bool Mode::stop_vehicle()
{
// call throttle controller and convert output to -100 to +100 range
bool stopped = false;
float throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt, stopped);
float throttle_out;
// if vehicle is balance bot, calculate actual throttle required for balancing
// if vehicle is balance bot, calculate throttle required for balancing
if (rover.is_balancebot()) {
throttle_out = 100.0f * attitude_control.get_throttle_out_speed(0, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt);
rover.balancebot_pitch_control(throttle_out);
} else {
throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, rover.G_Dt, stopped);
}
// relax mainsail if present