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42 lines
1.1 KiB
42 lines
1.1 KiB
7 years ago
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#include "mode.h"
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#include "Rover.h"
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void ModeSimple::init_simple_heading()
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{
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simple_initial_heading = ahrs.yaw;
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}
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void ModeSimple::update()
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{
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float desired_heading, desired_steering, desired_speed;
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// initial heading simple mode
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if (g2.simple_type == Simple_InitialHeading) {
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// get piot input
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get_pilot_desired_steering_and_speed(desired_steering, desired_speed);
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float simple_heading;
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if (is_zero(desired_steering)) {
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simple_heading = ((simple_initial_heading - ahrs.yaw) * 4500.0f);
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} else {
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simple_heading = desired_steering;
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}
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// run throttle and steering controllers
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calc_steering_to_heading(simple_heading, false);
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calc_throttle(desired_speed, true, false);
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}
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// cardinal directions simple mode
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if (g2.simple_type == Simple_CardinalDirections) {
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// get pilot input
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get_pilot_desired_heading_and_speed(desired_heading, desired_speed);
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// run throttle and steering controllers
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calc_steering_to_heading(desired_heading, false);
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calc_throttle(desired_speed, false, true);
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}
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}
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