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AP_MotorsUGV: skid steering always uses full range

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Allows skid friction to be removed
This commit is contained in:
Randy Mackay 2017-11-27 18:16:31 +09:00
parent 395a4ad4ce
commit 97e87e2150
2 changed files with 5 additions and 30 deletions
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34
APMrover2/AP_MotorsUGV.cpp
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@ -63,15 +63,6 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @User: Standard
AP_GROUPINFO("THR_MAX", 6, AP_MotorsUGV, _throttle_max, 100),
// @Param: SKID_FRIC
// @DisplayName: Motor skid steering friction compensation
// @Description: Motor output for skid steering vehicles will be increased by this percentage to overcome friction when stopped
// @Units: %
// @Range: 0 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SKID_FRIC", 7, AP_MotorsUGV, _skid_friction, 0.0f),
// @Param: SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.
@ -389,27 +380,12 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
throttle_scaled = throttle_scaled / saturation_value;
}
// add in throttle
float motor_left = throttle_scaled;
float motor_right = throttle_scaled;
// reverse steering direction if throttle is negative to mimic regular rovers
const float steering_dir = is_negative(throttle_scaled) ? -1.0f : 1.0f;
// deal with case of turning on the spot
if (is_zero(throttle_scaled)) {
// steering output split evenly between left and right motors and compensated for friction
const float friction_comp = MAX(0.0f, 1.0f + (_skid_friction * 0.01f));
motor_left += steering_scaled * 0.5f * friction_comp;
motor_right -= steering_scaled * 0.5f * friction_comp;
} else {
// add in steering
const float dir = is_positive(throttle_scaled) ? 1.0f : -1.0f;
if (is_negative(steering_scaled)) {
// moving left all steering to right wheel
motor_right -= dir * steering_scaled;
} else {
// turning right, all steering to left wheel
motor_left += dir * steering_scaled;
}
}
// add in throttle and steering
const float motor_left = throttle_scaled + (steering_dir * steering_scaled);
const float motor_right = throttle_scaled - (steering_dir * steering_scaled);
// send pwm value to each motor
output_throttle(SRV_Channel::k_throttleLeft, 100.0f * motor_left);

1
APMrover2/AP_MotorsUGV.h
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@ -99,7 +99,6 @@ protected:
AP_Int16 _slew_rate; // slew rate expressed as a percentage / second
AP_Int8 _throttle_min; // throttle minimum percentage
AP_Int8 _throttle_max; // throttle maximum percentage
AP_Float _skid_friction; // skid steering vehicle motor output compensation for friction while stopped
AP_Float _thrust_curve_expo; // thrust curve exponent from -1 to +1 with 0 being linear
// internal variables