mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.3 KiB
C++
51 lines
1.3 KiB
C++
#include "Rover.h"
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/*
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work out if we are going to use pivot steering
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*/
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bool Rover::use_pivot_steering(float yaw_error_cd)
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{
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// check cases where we clearly cannot use pivot steering
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if (!g2.motors.have_skid_steering() || g.pivot_turn_angle <= 0) {
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pivot_steering_active = false;
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return false;
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}
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// calc bearing error
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const float yaw_error = fabsf(yaw_error_cd) * 0.01f;
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// if error is larger than pivot_turn_angle start pivot steering
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if (yaw_error > g.pivot_turn_angle) {
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pivot_steering_active = true;
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return true;
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}
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// if within 10 degrees of the target heading, exit pivot steering
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if (yaw_error < 10.0f) {
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pivot_steering_active = false;
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return false;
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}
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// by default stay in
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return pivot_steering_active;
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}
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/*****************************************
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Set the flight control servos based on the current calculated values
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*****************************************/
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void Rover::set_servos(void)
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{
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// send output signals to motors
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if (motor_test) {
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motor_test_output();
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} else {
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// get ground speed
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float speed;
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if (!g2.attitude_control.get_forward_speed(speed)) {
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speed = 0.0f;
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}
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g2.motors.output(arming.is_armed(), speed, G_Dt);
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}
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}
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