From 9da193f66ca3fbf0de02f8f84584990c95002cbf Mon Sep 17 00:00:00 2001
From: Jason Kemmerling <jkemmerl@w5.hsl.dynalias.com>
Date: Mon, 5 Dec 2011 12:32:34 -0500
Subject: [PATCH] Fixed sailboat setup.

---
 ArduBoat/ControllerSailboat.h | 65 ++++++++---------------------------
 1 file changed, 14 insertions(+), 51 deletions(-)

diff --git a/ArduBoat/ControllerSailboat.h b/ArduBoat/ControllerSailboat.h
index 2e9b871b14..88b94f99b3 100644
--- a/ArduBoat/ControllerSailboat.h
+++ b/ArduBoat/ControllerSailboat.h
@@ -16,13 +16,12 @@ class ControllerSailboat: public AP_Controller {
 public:
     ControllerSailboat(AP_Navigator * nav, AP_Guide * guide,
                   AP_HardwareAbstractionLayer * hal) :
-        AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
+        AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
         pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
                steeringI, steeringD, steeringIMax, steeringYMax),
-        pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
+        pidsail(new AP_Var_group(k_pidsail, PSTR("SAIL_")), 1, throttleP,
                   throttleI, throttleD, throttleIMax, throttleYMax,
-                  throttleDFCut), _strCmd(0), _thrustCmd(0),
-      _rangeFinderFront()
+                  throttleDFCut), _strCmd(0), _sailCmd(0)
     {
         _hal->debug->println_P(PSTR("initializing sailboat controller"));
 
@@ -33,61 +32,27 @@ public:
             new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         _hal->rc.push_back(
-            new AP_RcChannel(k_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
+            new AP_RcChannel(k_chsail, PSTR("SAIL_"), hal->radio, 2, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
-        _hal->rc.push_back(
-            new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), hal->radio, 4, 1100, 1500,
-                             1900, RC_MODE_IN, false));
-
-        for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
-            RangeFinder * rF = _hal->rangeFinders[i];
-            if (rF == NULL)
-                continue;
-            if (rF->orientation_x == 1 && rF->orientation_y == 0
-                    && rF->orientation_z == 0)
-                _rangeFinderFront = rF;
-        }
     }
 
 private:
     // methods
     void manualLoop(const float dt) {
         _strCmd = _hal->rc[ch_str]->getRadioPosition();
-        _thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
-        if (useForwardReverseSwitch && _hal->rc[ch_FwdRev]->getRadioPosition() < 0.0)
-            _thrustCmd = -_thrustCmd;
+        _sailCmd = _hal->rc[ch_sail]->getRadioPosition();
     }
     void autoLoop(const float dt) {
-        //_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_thrust]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
+        //_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_sail]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
         // neglects heading command derivative
         float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
-        float thrust = pidThrust.update(
-                         _guide->getGroundSpeedCommand()
-                         - _nav->getGroundSpeed(), dt);
-
-        // obstacle avoidance overrides
-        // try to drive around the obstacle in front. if this fails, stop
-        if (_rangeFinderFront) {
-            _rangeFinderFront->read();
-
-            int distanceToObstacle = _rangeFinderFront->distance;
-            if (distanceToObstacle < 100) {
-                thrust = 0;   // Avoidance didn't work out. Stopping
-            }
-            else if (distanceToObstacle < 650) {
-                // Deviating from the course. Deviation angle is inverse proportional
-                // to the distance to the obstacle, with 15 degrees min angle, 180 - max
-                steering += (15 + 165 *
-                    (1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
-            }
-        }
-
+        float sail = 0;
         _strCmd = steering;
-        _thrustCmd = thrust;
+        _sailCmd = sail;
     }
     void setMotors() {
         _hal->rc[ch_str]->setPosition(_strCmd);
-        _hal->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
+        _hal->rc[ch_sail]->setPosition(fabs(_sailCmd) < 0.1 ? 0 : _sailCmd);
     }
     void handleFailsafe() {
         // turn off
@@ -96,19 +61,17 @@ private:
 
     // attributes
     enum {
-        ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
+        ch_mode = 0, ch_str, ch_sail
     };
     enum {
-        k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
+        k_chMode = k_radioChannelsStart, k_chStr, k_chsail
     };
     enum {
-        k_pidStr = k_controllersStart, k_pidThrust
+        k_pidStr = k_controllersStart, k_pidsail
     };
     BlockPIDDfb pidStr;
-    BlockPID pidThrust;
-    float _strCmd, _thrustCmd;
-
-    RangeFinder * _rangeFinderFront;
+    BlockPID pidsail;
+    float _strCmd, _sailCmd;
 };
 
 } // namespace apo