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Rover: get_throttle_out calls do not require skid-steering arg

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khancyr 2017-11-08 15:40:52 +09:00 committed by Randy Mackay
parent e9e1dac188
commit 2b0645d6a1
1 changed files with 2 additions and 2 deletions
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4
APMrover2/mode.cpp
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@ -72,7 +72,7 @@ void Mode::calc_throttle(float target_speed, bool nudge_allowed)
}
// call throttle controller and convert output to -100 to +100 range
float throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.have_skid_steering(), g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f);
float throttle_out = 100.0f * attitude_control.get_throttle_out_speed(target_speed, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f);
// send to motor
g2.motors.set_throttle(throttle_out);
@ -83,7 +83,7 @@ bool Mode::stop_vehicle()
{
// call throttle controller and convert output to -100 to +100 range
bool stopped = false;
float throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.have_skid_steering(), g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, stopped);
float throttle_out = 100.0f * attitude_control.get_throttle_out_stop(g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, g.speed_cruise, g.throttle_cruise * 0.01f, stopped);
// send to motor
g2.motors.set_throttle(throttle_out);