mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.8 KiB
C++
47 lines
1.8 KiB
C++
#include "mode.h"
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#include "Rover.h"
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void ModeAcro::update()
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{
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// convert pilot stick input into desired steering and throttle
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float desired_steering, desired_throttle;
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
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// set reverse flag backing up
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const bool reversed = is_negative(desired_throttle);
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rover.set_reverse(reversed);
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// convert pilot steering input to desired turn rate in radians/sec
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const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate);
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// run steering turn rate controller and throttle controller
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const float steering_out = attitude_control.get_steering_out_rate(
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target_turn_rate,
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g2.motors.have_skid_steering(),
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g2.motors.have_vectored_thrust(),
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g2.motors.limit.steer_left,
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g2.motors.limit.steer_right,
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reversed);
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g2.motors.set_steering(steering_out * 4500.0f);
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// get speed forward
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float speed;
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if (!attitude_control.get_forward_speed(speed)) {
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// no valid speed, just use the provided throttle
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g2.motors.set_throttle(desired_throttle);
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} else {
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// convert pilot throttle input to desired speed
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float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f);
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calc_throttle(target_speed, false, true);
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}
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}
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bool ModeAcro::requires_velocity() const
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{
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return g2.motors.have_skid_steering()? false: true;
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}
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