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APMrover2 : correct arming and failsafe in skid steer mode

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Commit 3636b53#diff-e22a85a55f71f1b9b2d3f293dea61368 introduce arming for rover. But in skid steering mode it was only applied on throttle and the rover still pivot.
The patch also correct rover behaviour in case of failsafe or loitering.
This commit is contained in:
Pierre Kancir 2016-05-25 10:17:03 +02:00 committed by Grant Morphett
parent 168f4e52cf
commit ee168bee8d
1 changed files with 22 additions and 0 deletions
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22
APMrover2/Steering.cpp
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@ -86,6 +86,10 @@ void Rover::calc_throttle(float target_speed) {
// then set the throttle to minimum
if (!auto_check_trigger() || ((loiter_time > 0) && (control_mode == AUTO))) {
channel_throttle->set_servo_out(g.throttle_min.get());
// Stop rotation in case of loitering and skid steering
if (g.skid_steer_out) {
channel_steer->set_servo_out(0);
}
return;
}
@ -223,6 +227,10 @@ void Rover::set_servos(void) {
if (failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
// suppress throttle if in failsafe and manual
channel_throttle->set_radio_out(channel_throttle->get_radio_trim());
// suppress steer if in failsafe and manual and skid steer mode
if (g.skid_steer_out) {
channel_steer->set_radio_out(channel_steer->get_radio_trim());
}
}
} else {
channel_steer->calc_pwm();
@ -239,10 +247,18 @@ void Rover::set_servos(void) {
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) && control_mode < AUTO) {
// suppress throttle if in failsafe
channel_throttle->set_servo_out(0);
// suppress steer if in failsafe and skid steer mode
if (g.skid_steer_out) {
channel_steer->set_servo_out(0);
}
}
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
// suppress steer if in failsafe and skid steer mode
if (g.skid_steer_out) {
channel_steer->set_servo_out(0);
}
}
// convert 0 to 100% into PWM
@ -285,11 +301,17 @@ void Rover::set_servos(void) {
case AP_Arming::YES_ZERO_PWM:
channel_throttle->set_radio_out(0);
if (g.skid_steer_out) {
channel_steer->set_radio_out(0);
}
break;
case AP_Arming::YES_MIN_PWM:
default:
channel_throttle->set_radio_out(channel_throttle->get_radio_trim());
if (g.skid_steer_out) {
channel_steer->set_radio_out(channel_steer->get_radio_trim());
}
break;
}
}