Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AR_Motors: fix limits sometimes being overwritten

Browse Source
This commit is contained in:
Randy Mackay 2022-02-04 11:26:28 +09:00 committed by Peter Barker
parent 64a1ab9a93
commit e3baeac48c
1 changed files with 8 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AR_Motors/AP_MotorsUGV.cpp
View File

@ -287,6 +287,10 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
_throttle = 0.0f; _throttle = 0.0f;
} }
// clear limit flags
// output_ methods are responsible for setting them to true if required on each iteration
limit.steer_left = limit.steer_right = limit.throttle_lower = limit.throttle_upper = false;
// sanity check parameters // sanity check parameters
sanity_check_parameters(); sanity_check_parameters();
@ -941,10 +945,10 @@ void AP_MotorsUGV::slew_limit_throttle(float dt)
void AP_MotorsUGV::set_limits_from_input(bool armed, float steering, float throttle) void AP_MotorsUGV::set_limits_from_input(bool armed, float steering, float throttle)
{ {
// set limits based on inputs // set limits based on inputs
limit.steer_left = !armed || (steering <= -4500.0f); limit.steer_left |= !armed || (steering <= -4500.0f);
limit.steer_right = !armed || (steering >= 4500.0f); limit.steer_right |= !armed || (steering >= 4500.0f);
limit.throttle_lower = !armed || (throttle <= -_throttle_max); limit.throttle_lower |= !armed || (throttle <= -_throttle_max);
limit.throttle_upper = !armed || (throttle >= _throttle_max); limit.throttle_upper |= !armed || (throttle >= _throttle_max);
} }
// scale a throttle using the _throttle_min and _thrust_curve_expo parameters. throttle should be in the range -100 to +100 // scale a throttle using the _throttle_min and _thrust_curve_expo parameters. throttle should be in the range -100 to +100