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AP_MotorsUGV: MOT_SPD_SCA_BASE param for min speed scaling

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This replaces the hardcoded 1m/s start point for speed scaling with a configurable value
This commit is contained in:
Randy Mackay 2018-06-08 11:03:44 +09:00
parent 374c77d9c8
commit eb519bfb79
2 changed files with 12 additions and 3 deletions
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14
APMrover2/AP_MotorsUGV.cpp
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@ -88,6 +88,14 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @User: Advanced
AP_GROUPINFO("VEC_THR_BASE", 10, AP_MotorsUGV, _vector_throttle_base, 0.0f),
// @Param: SPD_SCA_BASE
// @DisplayName: Motor speed scaling base speed
// @Description: Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling
// @Units: m/s
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO("SPD_SCA_BASE", 11, AP_MotorsUGV, _speed_scale_base, 1.0f),
AP_GROUPEND
};
@ -431,9 +439,9 @@ void AP_MotorsUGV::output_regular(bool armed, float ground_speed, float steering
steering *= constrain_float(_vector_throttle_base / fabsf(throttle), 0.0f, 1.0f);
}
} else {
// scale steering down as speed increase above 1m/s
if (fabsf(ground_speed) > 1.0f) {
steering *= (1.0f / fabsf(ground_speed));
// scale steering down as speed increase above MOT_SPD_SCA_BASE (1 m/s default)
if (is_positive(_speed_scale_base) && (fabsf(ground_speed) > _speed_scale_base)) {
steering *= (_speed_scale_base / fabsf(ground_speed));
} else {
// regular steering rover at low speed so set limits to stop I-term build-up in controllers
if (!have_skid_steering()) {

1
APMrover2/AP_MotorsUGV.h
View File

@ -128,6 +128,7 @@ protected:
AP_Int8 _throttle_max; // throttle maximum percentage
AP_Float _thrust_curve_expo; // thrust curve exponent from -1 to +1 with 0 being linear
AP_Float _vector_throttle_base; // throttle level above which steering is scaled down when using vector thrust. zero to disable vectored thrust
AP_Float _speed_scale_base; // speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling
// internal variables
float _steering; // requested steering as a value from -4500 to +4500