mirror of https://github.com/ArduPilot/ardupilot
Rover: removed some more plane specific variables
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@ -14,24 +14,3 @@
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#define TRACE DISABLED
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//#define LOGGING_ENABLED DISABLED
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//#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
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//#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
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// Radio setup:
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// APM INPUT (Rec = receiver)
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// Rec ch1: Roll
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// Rec ch2: Throttle
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// Rec ch3: Pitch
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// Rec ch4: Yaw
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// Rec ch5: not used
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// Rec ch6:
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// Rec ch7: Option channel to 2 positions switch
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// Rec ch8: Mode channel to 3 positions switch
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// APM OUTPUT
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// Ch1: Wheel servo (direction)
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// Ch2: not used
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// Ch3: to the motor ESC
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// Ch4: not used
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@ -354,9 +354,7 @@ static int16_t failsafe;
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// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
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// RC receiver should be set up to output a low throttle value when signal is lost
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static bool ch3_failsafe;
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// A timer used to help recovery from unusual attitudes. If we enter an unusual attitude
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// while in autonomous flight this variable is used to hold roll at 0 for a recovery period
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static byte crash_timer;
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// A timer used to track how long since we have received the last GCS heartbeat or rc override message
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static uint32_t rc_override_fs_timer = 0;
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// A timer used to track how long we have been in a "short failsafe" condition due to loss of RC signal
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@ -481,8 +479,6 @@ static bool speed_boost = false;
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////////////////////////////////////////////////////////////////////////////////
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// The instantaneous desired bank angle. Hundredths of a degree
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static int32_t nav_roll;
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// The instantaneous desired pitch angle. Hundredths of a degree
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static int32_t nav_pitch;
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// Calculated radius for the wp turn based on ground speed and max turn angle
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static int32_t wp_radius;
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@ -935,7 +931,6 @@ static void update_current_flight_mode(void)
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case LEARNING:
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case MANUAL:
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nav_roll = 0;
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nav_pitch = 0;
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g.channel_roll.servo_out = g.channel_roll.pwm_to_angle();
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g.channel_pitch.servo_out = g.channel_pitch.pwm_to_angle();
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g.channel_rudder.servo_out = g.channel_roll.pwm_to_angle();
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@ -945,17 +940,14 @@ static void update_current_flight_mode(void)
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static void update_navigation()
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{
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// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
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// ------------------------------------------------------------------------
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// distance and bearing calcs only
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if(control_mode == AUTO){
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switch (control_mode) {
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case AUTO:
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verify_commands();
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}else{
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break;
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switch(control_mode){
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case RTL: // no loitering around the wp with the rover, goes direct to the wp position
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case RTL:
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case GUIDED:
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// no loitering around the wp with the rover, goes direct to the wp position
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calc_nav_roll();
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calc_bearing_error();
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if(verify_RTL()) {
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@ -963,7 +955,5 @@ static void update_navigation()
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set_mode(MANUAL);
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}
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break;
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}
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}
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}
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@ -54,7 +54,6 @@ static void calc_throttle()
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static void calc_nav_roll()
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{
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// Adjust gain based on ground speed
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nav_gain_scaler = (float)ground_speed / (g.airspeed_cruise * 100.0);
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nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);
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@ -72,7 +71,6 @@ static void calc_nav_roll()
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speed_boost = false;
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}
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nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
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}
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// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
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@ -81,7 +79,6 @@ static void reset_I(void)
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{
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g.pidNavRoll.reset_I();
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g.pidTeThrottle.reset_I();
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// g.pidAltitudeThrottle.reset_I();
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}
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/*****************************************
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@ -218,7 +218,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
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mavlink_msg_nav_controller_output_send(
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chan,
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nav_roll / 1.0e2,
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nav_pitch / 1.0e2,
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0,
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bearing,
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target_bearing / 100,
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wp_distance,
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@ -304,7 +304,7 @@ static void Log_Write_Control_Tuning()
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DataFlash.WriteInt((int)nav_roll);
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DataFlash.WriteInt((int)ahrs.roll_sensor);
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DataFlash.WriteInt((int)(g.channel_pitch.servo_out));
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DataFlash.WriteInt((int)nav_pitch);
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DataFlash.WriteInt(0); // nav_pitch
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DataFlash.WriteInt((int)ahrs.pitch_sensor);
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DataFlash.WriteInt((int)(g.channel_throttle.servo_out));
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DataFlash.WriteInt((int)(g.channel_rudder.servo_out));
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@ -174,7 +174,6 @@ static void do_RTL(void)
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{
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prev_WP = current_loc;
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control_mode = RTL;
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crash_timer = 0;
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next_WP = home;
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}
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@ -364,7 +364,6 @@ static void set_mode(byte mode)
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trim_control_surfaces();
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control_mode = mode;
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crash_timer = 0;
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throttle_last = 0;
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throttle = 500;
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