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Rover: add comments to Steering

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This commit is contained in:
Pierre Kancir 2017-06-20 15:54:41 +02:00 committed by Randy Mackay
parent 031ed4bbb0
commit 9abb1f634f
1 changed files with 6 additions and 5 deletions
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11
APMrover2/Steering.cpp
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@ -167,6 +167,7 @@ void Rover::calc_throttle(float target_speed) {
if (guided_mode != Guided_Velocity) {
if (use_pivot_steering()) {
// In Guided Velocity, only the steering input is used to calculate the pivot turn.
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
}
}
@ -242,7 +243,7 @@ void Rover::mix_skid_steering(void)
const float throttle_scaled = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 100.0f;
float motor1 = throttle_scaled + 0.5f * steering_scaled;
float motor2 = throttle_scaled - 0.5f * steering_scaled;
// Check that we are doing on spot turn
if (fabsf(throttle_scaled) <= 0.01f) {
// Use full range for on spot turn
motor1 = steering_scaled;
@ -266,7 +267,7 @@ void Rover::set_servos(void) {
g.throttle_min,
g.throttle_max));
}
// Check Throttle failsafe in non auto mode. Suppress all ouput
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
@ -275,7 +276,7 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
}
// Check if soft arm. Suppress all ouput
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
@ -283,12 +284,12 @@ void Rover::set_servos(void) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
}
}
// Apply slew rate limit on non Manual modes
if (control_mode != MANUAL && control_mode != LEARNING) {
// limit throttle movement speed
throttle_slew_limit();
}
// Apply skid steering mixing
if (have_skid_steering()) {
mix_skid_steering();
}