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Rover: Allow ACRO mode for skid steer rovers without GPS

This commit is contained in:
Daniel Widmann 2018-04-11 12:02:46 -07:00 committed by Randy Mackay
parent 753b710477
commit e782ce2b51
1 changed files with 26 additions and 19 deletions
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45
APMrover2/mode_acro.cpp
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@ -3,34 +3,41 @@
void ModeAcro::update()
{
// get speed forward
float speed;
if (!attitude_control.get_forward_speed(speed)) {
// no valid speed so stop
g2.motors.set_throttle(0.0f);
g2.motors.set_steering(0.0f);
return;
}
// convert pilot stick input into desired steering and throttle
float desired_steering, desired_throttle;
get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
// convert pilot throttle input to desired speed
float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
// set reverse flag backing up
const bool reversed = is_negative(desired_throttle);
rover.set_reverse(reversed);
// convert pilot steering input to desired turn rate in radians/sec
const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate);
// set reverse flag backing up
const bool reversed = is_negative(target_speed);
rover.set_reverse(reversed);
// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
// run steering turn rate controller and throttle controller
const float steering_out = attitude_control.get_steering_out_rate(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
const float steering_out = attitude_control.get_steering_out_rate(
target_turn_rate,
g2.motors.have_skid_steering(),
g2.motors.limit.steer_left,
g2.motors.limit.steer_right,
reversed);
g2.motors.set_steering(steering_out * 4500.0f);
calc_throttle(target_speed, false);
// get speed forward
float speed;
if (!attitude_control.get_forward_speed(speed)) {
// no valid speed, just use the provided throttle
g2.motors.set_throttle(desired_throttle);
} else {
// convert pilot throttle input to desired speed
float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
calc_throttle(target_speed, false);
}
}