From ef2223a71245c57b60cfe73bedad571384f35adb Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 May 2018 17:59:37 +0900
Subject: [PATCH] Rover: integrate attitude control change to steering output
 and scaling

steering output is always positive for clockwise
steering is scaled in motors library meaning we do not need to tell attitude controller about skid-steering or vectored-thrust
---
 APMrover2/mode.cpp        | 12 +++---------
 APMrover2/mode_acro.cpp   |  5 +----
 APMrover2/mode_guided.cpp |  5 +----
 3 files changed, 5 insertions(+), 17 deletions(-)

diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index ae06aaaef2..58d412335f 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -329,7 +329,7 @@ void Mode::calc_steering_to_waypoint(const struct Location &origin, const struct
 
     if (rover.use_pivot_steering(_yaw_error_cd)) {
         // for pivot turns use heading controller
-        calc_steering_to_heading(desired_heading, reversed);
+        calc_steering_to_heading(desired_heading);
     } else {
         // call lateral acceleration to steering controller
         calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);
@@ -351,11 +351,8 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
 
     // send final steering command to motor library
     const float steering_out = attitude_control.get_steering_out_lat_accel(lat_accel,
-                                                                           g2.motors.have_skid_steering(),
-                                                                           g2.motors.have_vectored_thrust(),
                                                                            g2.motors.limit.steer_left,
-                                                                           g2.motors.limit.steer_right,
-                                                                           reversed);
+                                                                           g2.motors.limit.steer_right);
     g2.motors.set_steering(steering_out * 4500.0f);
 }
 
@@ -364,11 +361,8 @@ void Mode::calc_steering_to_heading(float desired_heading_cd, bool reversed)
 {
     // calculate yaw error (in radians) and pass to steering angle controller
     const float steering_out = attitude_control.get_steering_out_heading(radians(desired_heading_cd*0.01f),
-                                                                         g2.motors.have_skid_steering(),
-                                                                         g2.motors.have_vectored_thrust(),
                                                                          g2.motors.limit.steer_left,
-                                                                         g2.motors.limit.steer_right,
-                                                                         reversed);
+                                                                         g2.motors.limit.steer_right);
     g2.motors.set_steering(steering_out * 4500.0f);
 }
 
diff --git a/APMrover2/mode_acro.cpp b/APMrover2/mode_acro.cpp
index 61ce6cc70b..cfb7c1349c 100644
--- a/APMrover2/mode_acro.cpp
+++ b/APMrover2/mode_acro.cpp
@@ -18,11 +18,8 @@ void ModeAcro::update()
     // run steering turn rate controller and throttle controller
     const float steering_out = attitude_control.get_steering_out_rate(
                                                                     target_turn_rate,
-                                                                    g2.motors.have_skid_steering(),
-                                                                    g2.motors.have_vectored_thrust(),
                                                                     g2.motors.limit.steer_left,
-                                                                    g2.motors.limit.steer_right,
-                                                                    reversed);
+                                                                    g2.motors.limit.steer_right);
 
     g2.motors.set_steering(steering_out * 4500.0f);
 
diff --git a/APMrover2/mode_guided.cpp b/APMrover2/mode_guided.cpp
index 9352ff457c..df82e69b55 100644
--- a/APMrover2/mode_guided.cpp
+++ b/APMrover2/mode_guided.cpp
@@ -66,11 +66,8 @@ void ModeGuided::update()
             if (have_attitude_target) {
                 // run steering and throttle controllers
                 float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f),
-                                                                            g2.motors.have_skid_steering(),
-                                                                            g2.motors.have_vectored_thrust(),
                                                                             g2.motors.limit.steer_left,
-                                                                            g2.motors.limit.steer_right,
-                                                                            _desired_speed < 0);
+                                                                            g2.motors.limit.steer_right);
                 g2.motors.set_steering(steering_out * 4500.0f);
                 calc_throttle(_desired_speed, true, true);
             } else {