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AR_Motors: fix limits sometimes being overwritten

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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
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12
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -287,6 +287,10 @@ void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
_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();
@ -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)
{
// set limits based on inputs
limit.steer_left = !armed || (steering <= -4500.0f);
limit.steer_right = !armed || (steering >= 4500.0f);
limit.throttle_lower = !armed || (throttle <= -_throttle_max);
limit.throttle_upper = !armed || (throttle >= _throttle_max);
limit.steer_left |= !armed || (steering <= -4500.0f);
limit.steer_right |= !armed || (steering >= 4500.0f);
limit.throttle_lower |= !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