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Rover: use scaled input in Manual modes

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This commit is contained in:
Pierre Kancir 2017-06-20 14:30:55 +02:00 committed by Randy Mackay
parent ee28e49790
commit 1dcf90c161
2 changed files with 22 additions and 35 deletions
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54
APMrover2/Steering.cpp
View File

@ -278,44 +278,30 @@ void Rover::mix_skid_steering(void)
Set the flight control servos based on the current calculated values
*****************************************/
void Rover::set_servos(void) {
if (control_mode == MANUAL || control_mode == LEARNING) {
// do a direct pass through of radio values
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->read());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, channel_throttle->read());
if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
// suppress throttle if in failsafe and manual
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
// suppress steer if in failsafe and manual and skid steer mode
if (g.skid_steer_out) {
SRV_Channels::set_output_limit(SRV_Channel::k_steering, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
}
if (in_reverse) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
-g.throttle_max,
-g.throttle_min));
} else {
if (in_reverse) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
-g.throttle_max,
-g.throttle_min));
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
g.throttle_min.get(),
g.throttle_max.get()));
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
g.throttle_min,
g.throttle_max));
}
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
// suppress steer if in failsafe and skid steer mode
if (have_skid_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
// suppress steer if in failsafe and skid steer mode
if (have_skid_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
}
if (!hal.util->get_soft_armed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
// suppress steer if in failsafe and skid steer mode
if (have_skid_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
if (!hal.util->get_soft_armed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
// suppress steer if in failsafe and skid steer mode
if (have_skid_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
}

3
APMrover2/radio.cpp
View File

@ -137,8 +137,9 @@ void Rover::read_radio()
RC_Channels::set_pwm_all();
// check that RC value are valid
control_failsafe(channel_throttle->get_radio_in());
// copy RC throttle input to throttle output
// copy RC scaled inputs to outputs
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, channel_steer->get_control_in());
// Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling