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Rover: Added reversing loiter_type parameter

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This commit is contained in:
sahith22 2019-10-28 19:07:13 +05:30 committed by Randy Mackay
parent d8445928d1
commit e7c2528654
2 changed files with 2 additions and 2 deletions
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2
APMrover2/Parameters.cpp
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@ -511,7 +511,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: LOIT_TYPE
// @DisplayName: Loiter type
// @Description: Loiter behaviour when moving to the target point
// @Values: 0:Forward or reverse to target point,1:Always face bow towards target point
// @Values: 0:Forward or reverse to target point,1:Always face bow towards target point,2:Always face stern towards target point
// @User: Standard
AP_GROUPINFO("LOIT_TYPE", 25, ParametersG2, loit_type, 0),

2
APMrover2/mode_loiter.cpp
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@ -44,7 +44,7 @@ void ModeLoiter::update()
_desired_yaw_cd = rover.current_loc.get_bearing_to(_destination);
float yaw_error_cd = wrap_180_cd(_desired_yaw_cd - ahrs.yaw_sensor);
// if destination is behind vehicle, reverse towards it
if (fabsf(yaw_error_cd) > 9000 && g2.loit_type == 0) {
if ((fabsf(yaw_error_cd) > 9000 && g2.loit_type == 0) || g2.loit_type == 2){
_desired_yaw_cd = wrap_180_cd(_desired_yaw_cd + 18000);
yaw_error_cd = wrap_180_cd(_desired_yaw_cd - ahrs.yaw_sensor);
_desired_speed = -_desired_speed;