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63 lines
2.4 KiB
63 lines
2.4 KiB
#include "mode.h" |
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#include "Rover.h" |
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void ModeSteering::update() |
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{ |
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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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// 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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// determine if pilot is requesting pivot turn |
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bool is_pivot_turning = g2.motors.have_skid_steering() && is_zero(target_speed) && (!is_zero(desired_steering)); |
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// In steering mode we control lateral acceleration directly. |
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// For pivot steering vehicles we use the TURN_MAX_G parameter |
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// For regular steering vehicles we use the maximum lateral acceleration at full steering lock for this speed: V^2/R where R is the radius of turn. |
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float max_g_force; |
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if (is_pivot_turning) { |
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max_g_force = g.turn_max_g * GRAVITY_MSS; |
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} else { |
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max_g_force = speed * speed / MAX(g2.turn_radius, 0.1f); |
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} |
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// constrain to user set TURN_MAX_G |
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max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS); |
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// convert pilot steering input to desired lateral acceleration |
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float desired_lat_accel = max_g_force * (desired_steering / 4500.0f); |
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// reverse target lateral acceleration if backing up |
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bool reversed = false; |
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if (is_negative(target_speed)) { |
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reversed = true; |
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desired_lat_accel = -desired_lat_accel; |
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} |
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// mark us as in_reverse when using a negative throttle |
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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 speed to throttle output controller |
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if (is_zero(target_speed) && !is_pivot_turning) { |
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stop_vehicle(); |
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} else { |
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// run lateral acceleration to steering controller |
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calc_steering_from_lateral_acceleration(desired_lat_accel, reversed); |
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// run speed to throttle controller |
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calc_throttle(target_speed, false); |
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} |
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}
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