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AR_AttitudeControl: remove unused skid_steering arg from get_throttle_out

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This commit is contained in:
khancyr 2017-11-08 15:40:14 +09:00 committed by Randy Mackay
parent aa09541847
commit e9e1dac188
2 changed files with 5 additions and 7 deletions
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7
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -240,10 +240,9 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
}
// return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards)
// skid_steering should be true for skid-steer vehicles
// motor_limit should be true if motors have hit their upper or lower limits
// cruise speed should be in m/s, cruise throttle should be a number from -1 to +1
float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle)
float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle)
{
// get speed forward
float speed;
@ -325,7 +324,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_
}
// return a throttle output from -1 to +1 to perform a controlled stop. returns true once the vehicle has stopped
float AR_AttitudeControl::get_throttle_out_stop(bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped)
float AR_AttitudeControl::get_throttle_out_stop(bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped)
{
// get current system time
uint32_t now = AP_HAL::millis();
@ -357,7 +356,7 @@ float AR_AttitudeControl::get_throttle_out_stop(bool skid_steering, bool motor_l
// clear stopped system time
_stop_last_ms = 0;
// run speed controller to bring vehicle to stop
return get_throttle_out_speed(0.0f, skid_steering, motor_limit_low, motor_limit_high, cruise_speed, cruise_throttle);
return get_throttle_out_speed(0.0f, motor_limit_low, motor_limit_high, cruise_speed, cruise_throttle);
}
}

5
libraries/APM_Control/AR_AttitudeControl.h
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@ -60,13 +60,12 @@ public:
void set_throttle_limits(float throttle_accel_max, float throttle_decel_max);
// return a throttle output from -1 to +1 given a desired speed in m/s (use negative speeds to travel backwards)
// skid_steering should be true for skid-steer vehicles
// motor_limit should be true if motors have hit their upper or lower limits
// cruise speed should be in m/s, cruise throttle should be a number from -1 to +1
float get_throttle_out_speed(float desired_speed, bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle);
float get_throttle_out_speed(float desired_speed, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle);
// return a throttle output from -1 to +1 to perform a controlled stop. stopped is set to true once stop has been completed
float get_throttle_out_stop(bool skid_steering, bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped);
float get_throttle_out_stop(bool motor_limit_low, bool motor_limit_high, float cruise_speed, float cruise_throttle, bool &stopped);
// low level control accessors for reporting and logging
AC_P& get_steering_angle_p() { return _steer_angle_p; }