mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.8 KiB
C++
46 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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// 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 so stop
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g2.motors.set_throttle(0.0f);
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g2.motors.set_steering(0.0f);
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return;
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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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// convert pilot throttle input to desired speed (up to twice the cruise 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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// 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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// determine if pilot is requesting pivot turn
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const bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering));
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// stop vehicle if target speed is zero and not pivot turning
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if (is_zero(target_speed) && !is_pivot_turning) {
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stop_vehicle();
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return;
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}
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// set reverse flag backing up
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const bool reversed = is_negative(target_speed);
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rover.set_reverse(reversed);
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// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration
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rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt);
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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(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
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g2.motors.set_steering(steering_out * 4500.0f);
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calc_throttle(target_speed, false);
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}
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