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Rover: disable slew limit by default on mode

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This commit is contained in:
khancyr 2017-07-12 11:45:58 +02:00 committed by Randy Mackay
parent 809a9e5894
commit b9644c4ec7
5 changed files with 4 additions and 3 deletions
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3
APMrover2/Steering.cpp
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@ -54,13 +54,10 @@ bool Rover::in_stationary_loiter()
void Rover::set_servos(void) {
// Apply slew rate limit on non Manual modes
if (control_mode == &mode_manual || control_mode == &mode_learning) {
g2.motors.slew_limit_throttle(false);
if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0.0f);
}
} else {
g2.motors.slew_limit_throttle(true);
}
// send output signals to motors

1
APMrover2/mode.cpp
View File

@ -25,6 +25,7 @@ void Mode::exit()
bool Mode::enter()
{
g2.motors.slew_limit_throttle(false);
return _enter();
}

1
APMrover2/mode_auto.cpp
View File

@ -12,6 +12,7 @@ bool ModeAuto::_enter()
auto_triggered = false;
rover.restart_nav();
rover.loiter_start_time = 0;
g2.motors.slew_limit_throttle(true);
return true;
}

1
APMrover2/mode_guided.cpp
View File

@ -9,6 +9,7 @@ bool ModeGuided::_enter()
*/
lateral_acceleration = 0.0f;
rover.set_guided_WP(rover.current_loc);
g2.motors.slew_limit_throttle(true);
return true;
}

1
APMrover2/mode_rtl.cpp
View File

@ -4,6 +4,7 @@
bool ModeRTL::_enter()
{
rover.do_RTL();
g2.motors.slew_limit_throttle(true);
return true;
}