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Rover: move to use new sailboat class

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This commit is contained in:
Peter Hall 2019-05-07 19:20:02 +01:00 committed by Randy Mackay
parent 5519527874
commit f22d7c906a
4 changed files with 14 additions and 13 deletions
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6
APMrover2/Log.cpp
View File

@ -46,7 +46,7 @@ void Rover::Log_Write_Attitude()
} }
// log heel to sail control for sailboats // log heel to sail control for sailboats
if (g2.motors.has_sail()) { if (rover.g2.sailboat.enabled()) {
logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info()); logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -141,7 +141,7 @@ void Rover::Log_Write_Nav_Tuning()
void Rover::Log_Write_Sail() void Rover::Log_Write_Sail()
{ {
// only log sail if present // only log sail if present
if (!g2.motors.has_sail()) { if (!rover.g2.sailboat.enabled()) {
return; return;
} }
@ -164,7 +164,7 @@ void Rover::Log_Write_Sail()
(double)wind_speed_true, (double)wind_speed_true,
(double)wind_speed_apparent, (double)wind_speed_apparent,
(double)g2.motors.get_mainsail(), (double)g2.motors.get_mainsail(),
(double)sailboat_get_VMG()); (double)g2.sailboat.get_VMG());
} }
struct PACKED log_Steering { struct PACKED log_Steering {

10
APMrover2/mode.cpp
View File

@ -45,7 +45,7 @@ bool Mode::enter()
set_reversed(false); set_reversed(false);
// clear sailboat tacking flags // clear sailboat tacking flags
rover.sailboat_clear_tack(); rover.g2.sailboat.clear_tack();
} }
return ret; return ret;
@ -257,7 +257,7 @@ void Mode::handle_tack_request()
{ {
// autopilot modes handle tacking // autopilot modes handle tacking
if (is_autopilot_mode()) { if (is_autopilot_mode()) {
rover.sailboat_handle_tack_request_auto(); rover.g2.sailboat.handle_tack_request_auto();
} }
} }
@ -288,7 +288,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
} }
// update mainsail position if present // update mainsail position if present
rover.sailboat_update_mainsail(target_speed); rover.g2.sailboat.update_mainsail(target_speed);
// send to motor // send to motor
g2.motors.set_throttle(throttle_out); g2.motors.set_throttle(throttle_out);
@ -395,9 +395,9 @@ void Mode::navigate_to_waypoint()
calc_throttle(desired_speed, true); calc_throttle(desired_speed, true);
float desired_heading_cd = g2.wp_nav.wp_bearing_cd(); float desired_heading_cd = g2.wp_nav.wp_bearing_cd();
if (rover.sailboat_use_indirect_route(desired_heading_cd)) { if (g2.sailboat.use_indirect_route(desired_heading_cd)) {
// sailboats use heading controller when tacking upwind // sailboats use heading controller when tacking upwind
desired_heading_cd = rover.sailboat_calc_heading(desired_heading_cd); desired_heading_cd = g2.sailboat.calc_heading(desired_heading_cd);
calc_steering_to_heading(desired_heading_cd, g2.wp_nav.get_pivot_rate()); calc_steering_to_heading(desired_heading_cd, g2.wp_nav.get_pivot_rate());
} else { } else {
// call turn rate steering controller // call turn rate steering controller

9
APMrover2/mode_acro.cpp
View File

@ -23,11 +23,12 @@ void ModeAcro::update()
// handle sailboats // handle sailboats
if (!is_zero(desired_steering)) { if (!is_zero(desired_steering)) {
// steering input return control to user // steering input return control to user
rover.sailboat_clear_tack(); rover.g2.sailboat.clear_tack();
} }
if (g2.motors.has_sail() && rover.sailboat_tacking()) { if (rover.g2.sailboat.tacking()) {
// call heading controller during tacking // call heading controller during tacking
steering_out = attitude_control.get_steering_out_heading(rover.sailboat_get_tack_heading_rad(),
steering_out = attitude_control.get_steering_out_heading(rover.g2.sailboat.get_tack_heading_rad(),
g2.wp_nav.get_pivot_rate(), g2.wp_nav.get_pivot_rate(),
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
@ -54,5 +55,5 @@ bool ModeAcro::requires_velocity() const
// sailboats in acro mode support user manually initiating tacking from transmitter // sailboats in acro mode support user manually initiating tacking from transmitter
void ModeAcro::handle_tack_request() void ModeAcro::handle_tack_request()
{ {
rover.sailboat_handle_tack_request_acro(); rover.g2.sailboat.handle_tack_request_acro();
} }

2
APMrover2/mode_loiter.cpp
View File

@ -25,7 +25,7 @@ void ModeLoiter::update()
// if within loiter radius slew desired speed towards zero and use existing desired heading // if within loiter radius slew desired speed towards zero and use existing desired heading
if (_distance_to_destination <= g2.loit_radius) { if (_distance_to_destination <= g2.loit_radius) {
// sailboats do not stop // sailboats do not stop
const float desired_speed_within_radius = g2.motors.has_sail() ? 0.1f : 0.0f; const float desired_speed_within_radius = rover.g2.sailboat.enabled() ? 0.1f : 0.0f;
_desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt); _desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt);
} else { } else {
// P controller with hard-coded gain to convert distance to desired speed // P controller with hard-coded gain to convert distance to desired speed