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Rover: bug fix to steering mode top speed 

Also non-functional change to calc_throttle to make call to calc_speed_nudge consistent
This commit is contained in:
Randy Mackay 2017-08-16 11:32:55 +09:00
parent 7df73c50e8
commit c9927e6af6
2 changed files with 2 additions and 2 deletions
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2
APMrover2/mode.cpp
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@ -68,7 +68,7 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed)
{
// add in speed nudging
if (nudge_allowed) {
target_speed = calc_speed_nudge(target_speed, g.speed_cruise, g.throttle_cruise / 100.0f);
target_speed = calc_speed_nudge(target_speed, g.speed_cruise, g.throttle_cruise * 0.01f);
}
// call throttle controller and convert output to -100 to +100 range

2
APMrover2/mode_steering.cpp
View File

@ -4,7 +4,7 @@
void ModeSteering::update()
{
// convert pilot throttle input to desired speed (up to twice the cruise speed)
float target_speed = channel_throttle->get_control_in() * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise);
float target_speed = channel_throttle->get_control_in() * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
// get speed forward
float speed;