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Rover: use float qualifier and functions

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This commit is contained in:
khancyr 2017-07-06 12:07:32 +02:00 committed by Randy Mackay
parent 1f0c985dec
commit 8ab3e83a3c
5 changed files with 19 additions and 19 deletions
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12
APMrover2/APMrover2.cpp
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@ -442,8 +442,8 @@ void Rover::update_current_mode(void)
gcs_send_mission_item_reached_message(0); gcs_send_mission_item_reached_message(0);
} }
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
lateral_acceleration = 0; lateral_acceleration = 0.0f;
} else { } else {
calc_lateral_acceleration(); calc_lateral_acceleration();
calc_nav_steer(); calc_nav_steer();
@ -502,8 +502,8 @@ void Rover::update_current_mode(void)
case HOLD: case HOLD:
// hold position - stop motors and center steering // hold position - stop motors and center steering
g2.motors.set_throttle(0); g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
if (!in_auto_reverse) { if (!in_auto_reverse) {
set_reverse(false); set_reverse(false);
} }
@ -553,8 +553,8 @@ void Rover::update_navigation()
if (rtl_complete || verify_RTL()) { if (rtl_complete || verify_RTL()) {
// we have reached destination so stop where we are // we have reached destination so stop where we are
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
lateral_acceleration = 0; lateral_acceleration = 0.0f;
} else { } else {
calc_lateral_acceleration(); calc_lateral_acceleration();
calc_nav_steer(); calc_nav_steer();

6
APMrover2/AP_MotorsUGV.cpp
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@ -200,9 +200,9 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
void AP_MotorsUGV::slew_limit_throttle(float dt) void AP_MotorsUGV::slew_limit_throttle(float dt)
{ {
if (_use_slew_rate && (_slew_rate > 0)) { if (_use_slew_rate && (_slew_rate > 0)) {
float temp = _slew_rate * dt * 0.01f * 100; // TODO : get THROTTLE MIN and THROTTLE MAX float temp = _slew_rate * dt * 0.01f * 100.0f; // TODO : get THROTTLE MIN and THROTTLE MAX
if (temp < 1) { if (temp < 1.0f) {
temp = 1; temp = 1.0f;
} }
_throttle = constrain_int16(_throttle, _last_throttle - temp, _last_throttle + temp); _throttle = constrain_int16(_throttle, _last_throttle - temp, _last_throttle + temp);
} }

6
APMrover2/Steering.cpp
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@ -104,7 +104,7 @@ void Rover::calc_throttle(float target_speed) {
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
// Stop rotation in case of loitering and skid steering // Stop rotation in case of loitering and skid steering
if (g2.motors.have_skid_steering()) { if (g2.motors.have_skid_steering()) {
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
} }
return; return;
} }
@ -172,7 +172,7 @@ void Rover::calc_throttle(float target_speed) {
if (guided_mode != Guided_Velocity) { if (guided_mode != Guided_Velocity) {
if (use_pivot_steering()) { if (use_pivot_steering()) {
// In Guided Velocity, only the steering input is used to calculate the pivot turn. // In Guided Velocity, only the steering input is used to calculate the pivot turn.
g2.motors.set_throttle(0); g2.motors.set_throttle(0.0f);
} }
} }
} }
@ -223,7 +223,7 @@ void Rover::calc_lateral_acceleration() {
void Rover::calc_nav_steer() { void Rover::calc_nav_steer() {
// check to see if the rover is loitering // check to see if the rover is loitering
if (in_stationary_loiter()) { if (in_stationary_loiter()) {
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
return; return;
} }

8
APMrover2/commands_logic.cpp
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@ -378,7 +378,7 @@ void Rover::nav_set_yaw_speed()
if ((millis() - guided_control.msg_time_ms) > 3000) { if ((millis() - guided_control.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping"); gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f; lateral_acceleration = 0.0f;
return; return;
} }
@ -401,7 +401,7 @@ void Rover::nav_set_speed()
if ((millis() - guided_control.msg_time_ms) > 3000) { if ((millis() - guided_control.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "SET_VELOCITY not recvd last 3secs, stopping"); gcs_send_text(MAV_SEVERITY_WARNING, "SET_VELOCITY not recvd last 3secs, stopping");
g2.motors.set_throttle(g.throttle_min.get()); g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0); g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f; lateral_acceleration = 0.0f;
prev_WP = current_loc; prev_WP = current_loc;
next_WP = current_loc; next_WP = current_loc;
@ -473,9 +473,9 @@ bool Rover::do_yaw_rotation()
// check if we are within 5 degrees of the target heading // check if we are within 5 degrees of the target heading
if (error_to_target_yaw <= 500) { if (error_to_target_yaw <= 500) {
g2.motors.set_steering(0); // stop the current rotation g2.motors.set_steering(0.0f); // stop the current rotation
condition_value = condition_start; // reset the condition value to its previous value condition_value = condition_start; // reset the condition value to its previous value
g2.motors.set_throttle(0); g2.motors.set_throttle(0.0f);
next_navigation_leg_cd = mission.get_next_ground_course_cd(0); next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
do_auto_rotation = false; do_auto_rotation = false;
return true; return true;

6
APMrover2/radio.cpp
View File

@ -158,9 +158,9 @@ void Rover::read_radio()
// Check if the throttle value is above 50% and we need to nudge // Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling // Make sure its above 50% in the direction we are travelling
if ((fabs(g2.motors.get_throttle()) > 50) && if ((fabsf(g2.motors.get_throttle()) > 50.0f) &&
(((g2.motors.get_throttle() < 0) && in_reverse) || ((is_negative(g2.motors.get_throttle()) && in_reverse) ||
((g2.motors.get_throttle() > 0) && !in_reverse))) { (is_positive(g2.motors.get_throttle()) && !in_reverse))) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) * throttle_nudge = (g.throttle_max - g.throttle_cruise) *
((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f); ((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f);
} else { } else {