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45 lines
1.8 KiB
45 lines
1.8 KiB
#include "mode.h" |
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#include "Rover.h" |
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void ModeAcro::update() |
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{ |
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// get speed forward |
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float speed; |
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if (!attitude_control.get_forward_speed(speed)) { |
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// no valid speed so stop |
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g2.motors.set_throttle(0.0f); |
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g2.motors.set_steering(0.0f); |
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return; |
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} |
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// convert pilot stick input into desired steering and throttle |
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float desired_steering, desired_throttle; |
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle); |
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// convert pilot throttle input to desired speed (up to twice the cruise speed) |
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float target_speed = desired_throttle * 0.01f * calc_speed_max(g.speed_cruise, g.throttle_cruise * 0.01f); |
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// convert pilot steering input to desired turn rate in radians/sec |
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const float target_turn_rate = (desired_steering / 4500.0f) * radians(g2.acro_turn_rate); |
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// determine if pilot is requesting pivot turn |
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const bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering)); |
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// stop vehicle if target speed is zero and not pivot turning |
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if (is_zero(target_speed) && !is_pivot_turning) { |
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stop_vehicle(); |
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return; |
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} |
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// set reverse flag backing up |
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const bool reversed = is_negative(target_speed); |
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rover.set_reverse(reversed); |
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// apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration |
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rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt); |
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// run steering turn rate controller and throttle controller |
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const float steering_out = attitude_control.get_steering_out_rate(target_turn_rate, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed); |
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g2.motors.set_steering(steering_out * 4500.0f); |
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calc_throttle(target_speed, false); |
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}
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