Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: steering mode formatting change 

no functional change
This commit is contained in:
Randy Mackay 2017-07-21 13:16:23 +09:00
parent 7c2c780333
commit f9186de0ca
1 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
APMrover2/mode_steering.cpp
View File

@ -1,14 +1,11 @@
#include "mode.h"
#include "Rover.h"
void ModeSteering::update() {
/*
in steering mode we control lateral acceleration
directly. We first calculate the maximum lateral
acceleration at full steering lock for this speed. That is
V^2/R where R is the radius of turn. We get the radius of
turn from half the STEER2SRV_P.
*/
void ModeSteering::update()
{
// in steering mode we control lateral acceleration directly. We first calculate the maximum lateral
// acceleration at full steering lock for this speed. That is V^2/R where R is the radius of turn.
// We get the radius of turn from half the STEER2SRV_P.
const float ground_speed = rover.ground_speed;
float max_g_force = ground_speed * ground_speed / rover.steerController.get_turn_radius();