mirror of https://github.com/ArduPilot/ardupilot
55 lines
2.3 KiB
C++
55 lines
2.3 KiB
C++
#include "Rover.h"
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void ModeSteering::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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_desired_lat_accel = 0.0f;
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return;
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}
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float desired_steering, desired_speed;
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get_pilot_desired_steering_and_speed(desired_steering, desired_speed);
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bool reversed = is_negative(desired_speed);
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// determine if pilot is requesting pivot turn
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if (g2.motors.have_skid_steering() && is_zero(desired_speed)) {
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// pivot turning using turn rate controller
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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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_desired_lat_accel = 0.0f;
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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,
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g2.motors.limit.steer_left,
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g2.motors.limit.steer_right,
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rover.G_Dt);
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set_steering(steering_out * 4500.0f);
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} else {
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// In steering mode we control lateral acceleration directly.
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// For regular steering vehicles we use the maximum lateral acceleration
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// at full steering lock for this speed: V^2/R where R is the radius of turn.
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float max_g_force = speed * speed / MAX(g2.turn_radius, 0.1f);
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max_g_force = constrain_float(max_g_force, 0.1f, attitude_control.get_turn_lat_accel_max());
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// convert pilot steering input to desired lateral acceleration
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_desired_lat_accel = max_g_force * (desired_steering / 4500.0f);
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// reverse target lateral acceleration if backing up
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if (reversed) {
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_desired_lat_accel = -_desired_lat_accel;
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}
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// run lateral acceleration to steering controller
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calc_steering_from_lateral_acceleration(_desired_lat_accel, reversed);
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}
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// run speed to throttle controller
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calc_throttle(desired_speed, true);
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}
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