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APMRover2: Fix skid steer in when in skid steer out

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This commit is contained in:
Pierre Kancir 2017-01-16 10:19:28 +01:00 committed by Grant Morphett
parent e0a3caea13
commit b31d2a59da
1 changed files with 9 additions and 0 deletions
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9
APMrover2/Steering.cpp
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@ -242,6 +242,7 @@ void Rover::calc_nav_steer() {
*****************************************/
void Rover::set_servos(void) {
static uint16_t last_throttle;
bool apply_skid_mix = true; // Normaly true, false when the mixage is done by the controler with skid_steer_in = 1
if (control_mode == MANUAL || control_mode == LEARNING) {
// do a direct pass through of radio values
@ -255,6 +256,9 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->get_radio_trim());
}
}
if (g.skid_steer_in) {
apply_skid_mix = false;
}
} else {
if (in_reverse) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
@ -303,6 +307,11 @@ void Rover::set_servos(void) {
const float throttle_scaled = SRV_Channels::get_output_norm(SRV_Channel::k_throttle);
float motor1 = throttle_scaled + 0.5f * steering_scaled;
float motor2 = throttle_scaled - 0.5f * steering_scaled;
if (!apply_skid_mix) { // Mixage is already done by a controller so just pass the value to motor
motor1 = steering_scaled;
motor2 = throttle_scaled;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 4500 * motor1);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100 * motor2);
}