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Rover: solve skid steer in value

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This commit is contained in:
khancyr 2017-07-04 16:02:18 +02:00 committed by Randy Mackay
parent f70a2b36ea
commit 9b97ad0fc0
2 changed files with 16 additions and 22 deletions
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9
APMrover2/APMrover2.cpp
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@ -495,15 +495,6 @@ void Rover::update_current_mode(void)
case LEARNING:
case MANUAL:
/*
in both MANUAL and LEARNING we pass through the
controls. Setting servo_out here actually doesn't matter, as
we set the exact value in set_servos(), but it helps for
logging
*/
g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
set_reverse(is_negative(g2.motors.get_throttle()));

29
APMrover2/radio.cpp
View File

@ -117,20 +117,7 @@ void Rover::read_radio()
RC_Channels::set_pwm_all();
// check that RC value are valid
control_failsafe(channel_throttle->get_radio_in());
// copy RC scaled inputs to outputs
g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
// Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling
if ((fabs(g2.motors.get_throttle()) > 50) &&
(((g2.motors.get_throttle() < 0) && in_reverse) ||
((g2.motors.get_throttle() > 0) && !in_reverse))) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f);
} else {
throttle_nudge = 0;
}
// apply RC skid steer mixing
if (g.skid_steer_in) {
// convert the two radio_in values from skid steering values
@ -162,6 +149,22 @@ void Rover::read_radio()
channel_steer->set_pwm(steer);
channel_throttle->set_pwm(thr);
}
// copy RC scaled inputs to outputs
g2.motors.set_throttle(channel_throttle->get_control_in());
g2.motors.set_steering(channel_steer->get_control_in());
// Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling
if ((fabs(g2.motors.get_throttle()) > 50) &&
(((g2.motors.get_throttle() < 0) && in_reverse) ||
((g2.motors.get_throttle() > 0) && !in_reverse))) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f);
} else {
throttle_nudge = 0;
}
// check if we try to do RC arm/disarm
rudder_arm_disarm_check();
}