mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.9 KiB
C++
52 lines
1.9 KiB
C++
#include "Rover.h"
|
|
|
|
// start cruise throttle and speed learning
|
|
void Rover::cruise_learn_start()
|
|
{
|
|
// if disarmed or no speed available do nothing
|
|
float speed;
|
|
if (!arming.is_armed() || !g2.attitude_control.get_forward_speed(speed)) {
|
|
cruise_learn.learning = false;
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning NOT started");
|
|
return;
|
|
}
|
|
// start learning
|
|
cruise_learn.learning = true;
|
|
cruise_learn.speed_filt.reset(speed);
|
|
cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
|
|
// To-Do: add dataflash logging of learning started event
|
|
}
|
|
|
|
// update cruise learning with latest speed and throttle
|
|
// should be called at 50hz
|
|
void Rover::cruise_learn_update()
|
|
{
|
|
float speed;
|
|
if (cruise_learn.learning && g2.attitude_control.get_forward_speed(speed)) {
|
|
// update filters with latest speed and throttle
|
|
cruise_learn.speed_filt.apply(speed, 0.02f);
|
|
cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
|
|
return;
|
|
}
|
|
}
|
|
|
|
// complete cruise learning and save results
|
|
void Rover::cruise_learn_complete()
|
|
{
|
|
// when switch is moved low, save learned cruise value
|
|
if (cruise_learn.learning) {
|
|
const float thr = cruise_learn.throttle_filt.get();
|
|
const float speed = cruise_learn.speed_filt.get();
|
|
if (thr >= 10.0f && thr <= 100.0f && is_positive(speed)) {
|
|
g.throttle_cruise.set_and_save(thr);
|
|
g.speed_cruise.set_and_save(speed);
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learned: Thr:%d Speed:%3.1f", (int)g.throttle_cruise, (double)g.speed_cruise);
|
|
} else {
|
|
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
|
|
}
|
|
cruise_learn.learning = false;
|
|
// To-Do: add dataflash logging of learning completion event
|
|
}
|
|
}
|