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Rover: allow throttle nudging in STEERING mode

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this better matches what AUTO does
This commit is contained in:
Andrew Tridgell 2013-10-05 07:41:32 +10:00
parent ba92c4891a
commit 03aca1bd8d
1 changed files with 5 additions and 3 deletions
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8
APMrover2/APMrover2.pde
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@ -875,9 +875,11 @@ static void update_current_mode(void)
lateral_acceleration = max_g_force * (channel_steer->pwm_to_angle()/4500.0f);
calc_nav_steer();
// and throttle gives speed in proportion to cruise speed
throttle_nudge = 0;
calc_throttle(channel_throttle->pwm_to_angle() * 0.01 * g.speed_cruise);
// and throttle gives speed in proportion to cruise speed, up
// to 50% throttle, then uses nudging above that.
float target_speed = channel_throttle->pwm_to_angle() * 0.01 * 2 * g.speed_cruise;
target_speed = constrain_float(target_speed, 0, g.speed_cruise);
calc_throttle(target_speed);
break;
}