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APMRover2: make on spot turn in skid and manual use full motor range

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This commit is contained in:
Pierre Kancir 2017-03-05 14:18:51 +01:00 committed by Grant Morphett
parent 83bf1fdca5
commit 7f861aafd0
1 changed files with 4 additions and 0 deletions
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4
APMrover2/Steering.cpp
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@ -311,7 +311,11 @@ void Rover::set_servos(void) {
if (!apply_skid_mix) { // Mixage is already done by a controller so just pass the value to motor
motor1 = steering_scaled;
motor2 = throttle_scaled;
} else if (fabsf(throttle_scaled) <= 0.01f) { // Use full range for on spot turn
motor1 = steering_scaled;
motor2 = -steering_scaled;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 4500 * motor1);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100 * motor2);
}