mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.5 KiB
C++
40 lines
1.5 KiB
C++
#include "mode.h"
|
|
#include "Rover.h"
|
|
|
|
void ModeSteering::update()
|
|
{
|
|
// convert pilot throttle input to desired speed
|
|
// speed in proportion to cruise speed, up to 50% throttle, then uses nudging above that.
|
|
float target_speed = channel_throttle->get_control_in() * 0.01f * 2.0f * g.speed_cruise;
|
|
target_speed = constrain_float(target_speed, -g.speed_cruise, g.speed_cruise);
|
|
|
|
// in steering mode we control lateral acceleration directly. We first calculate the maximum lateral
|
|
// acceleration at full steering lock for this speed. That is V^2/R where R is the radius of turn.
|
|
// We get the radius of turn from half the STEER2SRV_P.
|
|
const float ground_speed = rover.ground_speed;
|
|
float max_g_force = ground_speed * ground_speed / rover.steerController.get_turn_radius();
|
|
|
|
// constrain to user set TURN_MAX_G
|
|
max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
|
|
|
|
// convert pilot steering input to desired lateral acceleration
|
|
lateral_acceleration = max_g_force * (channel_steer->get_control_in() / 4500.0f);
|
|
|
|
// reverse target lateral acceleration if backing up
|
|
bool reversed = false;
|
|
if (is_negative(target_speed)) {
|
|
reversed = true;
|
|
lateral_acceleration = -lateral_acceleration;
|
|
target_speed = fabsf(target_speed);
|
|
}
|
|
|
|
// mark us as in_reverse when using a negative throttle
|
|
rover.set_reverse(reversed);
|
|
|
|
// run steering controller
|
|
calc_nav_steer(reversed);
|
|
|
|
// run speed to throttle output controller
|
|
calc_throttle(target_speed, reversed);
|
|
}
|