mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.5 KiB
C++
37 lines
1.5 KiB
C++
#include "mode.h"
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#include "Rover.h"
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void ModeSteering::update()
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{
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// convert pilot throttle input to desired speed
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// speed in proportion to cruise speed, up to 50% throttle, then uses nudging above that.
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float target_speed = channel_throttle->get_control_in() * 0.01f * 2.0f * g.speed_cruise;
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target_speed = constrain_float(target_speed, -g.speed_cruise, g.speed_cruise);
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// in steering mode we control lateral acceleration directly. We first calculate the maximum lateral
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// acceleration at full steering lock for this speed. That is V^2/R where R is the radius of turn.
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// We get the radius of turn from half the STEER2SRV_P.
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const float ground_speed = rover.ground_speed;
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float max_g_force = ground_speed * ground_speed / rover.steerController.get_turn_radius();
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// constrain to user set TURN_MAX_G
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max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
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// convert pilot steering input to desired lateral acceleration
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lateral_acceleration = max_g_force * (channel_steer->get_control_in() / 4500.0f);
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// reverse target lateral acceleration if backing up
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if (is_negative(target_speed)) {
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lateral_acceleration = -lateral_acceleration;
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}
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// mark us as in_reverse when using a negative throttle to stop AHRS getting off
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rover.set_reverse(is_negative(target_speed));
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// run steering controller
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calc_nav_steer();
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// run speed to throttle output controller
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calc_throttle(target_speed);
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}
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