aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rover: set-attitude-target consumes thrust in -1 to +1 range

Browse Source 
This makes the processing consistent with the mavlink spec
This commit is contained in:
Randy Mackay 2017-08-01 16:07:59 +09:00
parent b9db9229d9
commit d56d222971
1 changed files with 2 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
APMrover2/GCS_Mavlink.cpp
View File

@ -1049,15 +1049,8 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
// convert thrust to ground speed
packet.thrust = constrain_float(packet.thrust, 0.0f, 1.0f);
float target_speed = 0.0f;
if (is_equal(packet.thrust, 0.5f)) {
target_speed = 0.0f;
} else if (packet.thrust > 0.5f) {
target_speed = (packet.thrust - 0.5f) * 2.0f * rover.g.speed_cruise;
} else {
target_speed = (0.5f - packet.thrust) * 2.0f * rover.g.speed_cruise;
}
packet.thrust = constrain_float(packet.thrust, -1.0f, 1.0f);
float target_speed = rover.g.speed_cruise * packet.thrust;
// if the body_yaw_rate field is ignored, use the commanded yaw position
// otherwise use the commanded yaw rate