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Rover: add param to offset balancing point for balance bots

This commit is contained in:
Ebin 2018-12-13 13:19:08 +05:30 committed by Randy Mackay
parent 76910f9283
commit e806d0c385
3 changed files with 13 additions and 1 deletions
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9
APMrover2/Parameters.cpp
View File

@ -694,6 +694,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper),
#endif
// @Param: BAL_PITCH_TRIM
// @DisplayName: Balance Bot pitch trim angle
// @Description: Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.
// @Units: deg
// @Range: -2 2
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("BAL_PITCH_TRIM", 40, ParametersG2, bal_pitch_trim, 0),
AP_GROUPEND
};

3
APMrover2/Parameters.h
View File

@ -396,6 +396,9 @@ public:
// mission behave
AP_Int8 mis_done_behave;
// balance both pitch trim
AP_Float bal_pitch_trim;
};
extern const AP_Param::Info var_info[];

2
APMrover2/balance_bot.cpp
View File

@ -5,7 +5,7 @@
void Rover::balancebot_pitch_control(float &throttle)
{
// calculate desired pitch angle
const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max);
const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim);
// calculate speed from wheel encoders
float veh_speed_pct = 0.0f;