d99108f3bc
also direct throttle nudge replaced with speed nudge calc_speed_max estimates vehicle's top speed based on cruise-speed and cruise-throttle steering mode now provides total target speed instead of using speed plug throttle nudge motor limits provided to attitude control to stop i-term buildup uses negative desired speed instead of reversed flag reporting to GCS uses new throttle controller braking is simply enabled and allows a reverse motor output regardless of vehicle speed
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
#include "mode.h"
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#include "Rover.h"
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bool ModeRTL::_enter()
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{
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// refuse RTL if home has not been set
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if (rover.home_is_set == HOME_UNSET) {
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return false;
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}
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// set destination
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set_desired_location(rover.home);
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// RTL never reverses
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rover.set_reverse(false);
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g2.motors.slew_limit_throttle(true);
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return true;
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}
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void ModeRTL::update()
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{
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if (!_reached_destination) {
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// calculate distance to home
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_distance_to_destination = get_distance(rover.current_loc, _destination);
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// check if we've reached the destination
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if (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination)) {
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// trigger reached
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_reached_destination = true;
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gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
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}
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// continue driving towards destination
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calc_lateral_acceleration(_origin, _destination);
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calc_nav_steer();
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calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true);
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} else {
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// we've reached destination so stop
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g2.motors.set_throttle(g.throttle_min.get());
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g2.motors.set_steering(0.0f);
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lateral_acceleration = 0.0f;
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}
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}
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