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AR_AttitudeControl: clarify units of get_steering_out_heading argument

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This commit is contained in:
Randy Mackay 2018-09-10 16:19:24 +09:00
parent f150cae75a
commit d7d6c6ab04
2 changed files with 7 additions and 4 deletions
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8
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -264,7 +264,9 @@ float AR_AttitudeControl::get_steering_out_lat_accel(float desired_accel, bool m
}
// return a steering servo output from -1 to +1 given a heading in radians
float AR_AttitudeControl::get_steering_out_heading(float heading_rad, float rate_max, bool motor_limit_left, bool motor_limit_right, float dt)
// set rate_max_rads to a non-zero number to apply a limit on the desired turn rate
// return value is normally in range -1.0 to +1.0 but can be higher or lower
float AR_AttitudeControl::get_steering_out_heading(float heading_rad, float rate_max_rads, bool motor_limit_left, bool motor_limit_right, float dt)
{
// calculate heading error (in radians)
const float yaw_error = wrap_PI(heading_rad - _ahrs.yaw);
@ -272,8 +274,8 @@ float AR_AttitudeControl::get_steering_out_heading(float heading_rad, float rate
// Calculate the desired turn rate (in radians) from the angle error (also in radians)
float desired_rate = _steer_angle_p.get_p(yaw_error);
// limit desired_rate if a custom pivot turn rate is selected, otherwise use ATC_STR_RAT_MAX
if (is_positive(rate_max)) {
desired_rate = constrain_float(desired_rate, -rate_max, rate_max);
if (is_positive(rate_max_rads)) {
desired_rate = constrain_float(desired_rate, -rate_max_rads, rate_max_rads);
}
return get_steering_out_rate(desired_rate, motor_limit_left, motor_limit_right, dt);

3
libraries/APM_Control/AR_AttitudeControl.h
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@ -55,8 +55,9 @@ public:
float get_steering_out_lat_accel(float desired_accel, bool motor_limit_left, bool motor_limit_right, float dt);
// return a steering servo output given a heading in radians
// set rate_max_rads to a non-zero number to apply a limit on the desired turn rate
// return value is normally in range -1.0 to +1.0 but can be higher or lower
float get_steering_out_heading(float heading_rad, float rate_max, bool motor_limit_left, bool motor_limit_right, float dt);
float get_steering_out_heading(float heading_rad, float rate_max_rads, bool motor_limit_left, bool motor_limit_right, float dt);
// return a steering servo output given a desired yaw rate in radians/sec.
// positive yaw is to the right