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Rover: pass ground speed to motors lib for scaling of steering

This commit is contained in:
Randy Mackay 2018-05-03 17:56:37 +09:00
parent fa76a7c904
commit a061203eaf
1 changed files with 7 additions and 1 deletions
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8
APMrover2/Steering.cpp
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@ -39,6 +39,12 @@ void Rover::set_servos(void)
if (motor_test) {
motor_test_output();
} else {
g2.motors.output(arming.is_armed() && hal.util->get_soft_armed(), G_Dt);
// get ground speed
float speed;
if (!g2.attitude_control.get_forward_speed(speed)) {
speed = 0.0f;
}
g2.motors.output(arming.is_armed(), speed, G_Dt);
}
}