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Rover: implement get_control_outputs

This commit is contained in:
ashvath100 2020-08-08 08:05:11 +09:00 committed by Randy Mackay
parent 0694660094
commit c93313107b
2 changed files with 27 additions and 0 deletions
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26
Rover/Rover.cpp
View File

@ -180,6 +180,32 @@ bool Rover::set_steering_and_throttle(float steering, float throttle)
return true;
}
// get control output (for use in scripting)
// returns true on success and control_value is set to a value in the range -1 to +1
bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value)
{
switch (control_output) {
case AP_Vehicle::ControlOutput::Throttle:
control_value = constrain_float(g2.motors.get_throttle() / 100.0f, -1.0f, 1.0f);
return true;
case AP_Vehicle::ControlOutput::Yaw:
control_value = constrain_float(g2.motors.get_steering() / 4500.0f, -1.0f, 1.0f);
return true;
case AP_Vehicle::ControlOutput::Lateral:
control_value = constrain_float(g2.motors.get_lateral() / 100.0f, -1.0f, 1.0f);
return true;
case AP_Vehicle::ControlOutput::MainSail:
control_value = constrain_float(g2.motors.get_mainsail() / 100.0f, -1.0f, 1.0f);
return true;
case AP_Vehicle::ControlOutput::WingSail:
control_value = constrain_float(g2.motors.get_wingsail() / 100.0f, -1.0f, 1.0f);
return true;
default:
return false;
}
return false;
}
#if STATS_ENABLED == ENABLED
/*
update AP_Stats

1
Rover/Rover.h
View File

@ -276,6 +276,7 @@ private:
bool set_target_location(const Location& target_loc) override;
bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_steering_and_throttle(float steering, float throttle) override;
bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) override;
void stats_update();
void ahrs_update();
void gcs_failsafe_check(void);