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Rover: Use common variables #26964

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Jun 10, 2024
Merged

Rover: Use common variables #26964

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6 changes: 3 additions & 3 deletions Rover/Log.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ void Rover::Log_Write_Attitude()
}

// log heel to sail control for sailboats
if (rover.g2.sailboat.sail_enabled()) {
if (g2.sailboat.sail_enabled()) {
logger.Write_PID(LOG_PIDR_MSG, g2.attitude_control.get_sailboat_heel_pid().get_pid_info());
}
}
Expand Down Expand Up @@ -142,13 +142,13 @@ void Rover::Log_Write_Nav_Tuning()
void Rover::Log_Write_Sail()
{
// only log sail if present
if (!rover.g2.sailboat.sail_enabled()) {
if (!g2.sailboat.sail_enabled()) {
return;
}

float wind_dir_tack = logger.quiet_nanf();
uint8_t current_tack = 0;
if (rover.g2.windvane.enabled()) {
if (g2.windvane.enabled()) {
wind_dir_tack = degrees(g2.windvane.get_tack_threshold_wind_dir_rad());
current_tack = uint8_t(g2.windvane.get_current_tack());
}
Expand Down
14 changes: 7 additions & 7 deletions Rover/mode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ Mode::Mode() :
channel_roll(rover.channel_roll),
channel_pitch(rover.channel_pitch),
channel_walking_height(rover.channel_walking_height),
attitude_control(rover.g2.attitude_control)
attitude_control(g2.attitude_control)
{ }

void Mode::exit()
Expand Down Expand Up @@ -47,7 +47,7 @@ bool Mode::enter()
set_reversed(false);

// clear sailboat tacking flags
rover.g2.sailboat.clear_tack();
g2.sailboat.clear_tack();
}

return ret;
Expand All @@ -66,7 +66,7 @@ void Mode::get_pilot_input(float &steering_out, float &throttle_out) const
}

// apply RC skid steer mixing
switch ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get())
switch ((enum pilot_steer_type_t)g.pilot_steer_type.get())
{
case PILOT_STEER_TYPE_DEFAULT:
case PILOT_STEER_TYPE_DIR_REVERSED_WHEN_REVERSING:
Expand Down Expand Up @@ -166,7 +166,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
float desired_throttle = constrain_float(rover.channel_throttle->norm_input_dz(), -1.0f, 1.0f);

// handle two paddle input
if ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get() == PILOT_STEER_TYPE_TWO_PADDLES) {
if ((enum pilot_steer_type_t)g.pilot_steer_type.get() == PILOT_STEER_TYPE_TWO_PADDLES) {
const float left_paddle = desired_steering;
const float right_paddle = desired_throttle;
desired_steering = (left_paddle - right_paddle) * 0.5f;
Expand Down Expand Up @@ -279,7 +279,7 @@ void Mode::handle_tack_request()
{
// autopilot modes handle tacking
if (is_autopilot_mode()) {
rover.g2.sailboat.handle_tack_request_auto();
g2.sailboat.handle_tack_request_auto();
}
}

Expand All @@ -304,9 +304,9 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
// call throttle controller and convert output to -100 to +100 range
float throttle_out = 0.0f;

if (rover.g2.sailboat.sail_enabled()) {
if (g2.sailboat.sail_enabled()) {
// sailboats use special throttle and mainsail controller
rover.g2.sailboat.get_throttle_and_set_mainsail(target_speed, throttle_out);
g2.sailboat.get_throttle_and_set_mainsail(target_speed, throttle_out);
} else {
// call speed or stop controller
if (is_zero(target_speed) && !rover.is_balancebot()) {
Expand Down
8 changes: 4 additions & 4 deletions Rover/mode_acro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,12 @@ void ModeAcro::update()
// handle sailboats
if (!is_zero(desired_steering)) {
// steering input return control to user
rover.g2.sailboat.clear_tack();
g2.sailboat.clear_tack();
}
if (rover.g2.sailboat.tacking()) {
if (g2.sailboat.tacking()) {
// call heading controller during tacking

steering_out = attitude_control.get_steering_out_heading(rover.g2.sailboat.get_tack_heading_rad(),
steering_out = attitude_control.get_steering_out_heading(g2.sailboat.get_tack_heading_rad(),
g2.wp_nav.get_pivot_rate(),
g2.motors.limit.steer_left,
g2.motors.limit.steer_right,
Expand All @@ -60,5 +60,5 @@ bool ModeAcro::requires_velocity() const
// sailboats in acro mode support user manually initiating tacking from transmitter
void ModeAcro::handle_tack_request()
{
rover.g2.sailboat.handle_tack_request_acro();
g2.sailboat.handle_tack_request_acro();
}
20 changes: 10 additions & 10 deletions Rover/mode_auto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ void ModeAuto::update()
break;

case SubMode::Circle:
rover.g2.mode_circle.update();
g2.mode_circle.update();
break;
}
}
Expand Down Expand Up @@ -173,7 +173,7 @@ float ModeAuto::wp_bearing() const
case SubMode::NavScriptTime:
return rover.mode_guided.wp_bearing();
case SubMode::Circle:
return rover.g2.mode_circle.wp_bearing();
return g2.mode_circle.wp_bearing();
}

// this line should never be reached
Expand All @@ -197,7 +197,7 @@ float ModeAuto::nav_bearing() const
case SubMode::NavScriptTime:
return rover.mode_guided.nav_bearing();
case SubMode::Circle:
return rover.g2.mode_circle.nav_bearing();
return g2.mode_circle.nav_bearing();
}

// this line should never be reached
Expand All @@ -221,7 +221,7 @@ float ModeAuto::crosstrack_error() const
case SubMode::NavScriptTime:
return rover.mode_guided.crosstrack_error();
case SubMode::Circle:
return rover.g2.mode_circle.crosstrack_error();
return g2.mode_circle.crosstrack_error();
}

// this line should never be reached
Expand All @@ -245,7 +245,7 @@ float ModeAuto::get_desired_lat_accel() const
case SubMode::NavScriptTime:
return rover.mode_guided.get_desired_lat_accel();
case SubMode::Circle:
return rover.g2.mode_circle.get_desired_lat_accel();
return g2.mode_circle.get_desired_lat_accel();
}

// this line should never be reached
Expand All @@ -270,7 +270,7 @@ float ModeAuto::get_distance_to_destination() const
case SubMode::NavScriptTime:
return rover.mode_guided.get_distance_to_destination();
case SubMode::Circle:
return rover.g2.mode_circle.get_distance_to_destination();
return g2.mode_circle.get_distance_to_destination();
}

// this line should never be reached
Expand Down Expand Up @@ -299,7 +299,7 @@ bool ModeAuto::get_desired_location(Location& destination) const
case SubMode::NavScriptTime:
return rover.mode_guided.get_desired_location(destination);
case SubMode::Circle:
return rover.g2.mode_circle.get_desired_location(destination);
return g2.mode_circle.get_desired_location(destination);
}

// we should never reach here but just in case
Expand Down Expand Up @@ -341,7 +341,7 @@ bool ModeAuto::reached_destination() const
case SubMode::NavScriptTime:
return rover.mode_guided.reached_destination();
case SubMode::Circle:
return rover.g2.mode_circle.reached_destination();
return g2.mode_circle.reached_destination();
}

// we should never reach here but just in case, return true to allow missions to continue
Expand All @@ -366,7 +366,7 @@ bool ModeAuto::set_desired_speed(float speed)
case SubMode::NavScriptTime:
return rover.mode_guided.set_desired_speed(speed);
case SubMode::Circle:
return rover.g2.mode_circle.set_desired_speed(speed);
return g2.mode_circle.set_desired_speed(speed);
}
return false;
}
Expand Down Expand Up @@ -902,7 +902,7 @@ bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)

// if a location target was set, return true once vehicle is close
if (guided_target.valid) {
if (rover.current_loc.get_distance(guided_target.loc) <= rover.g2.wp_nav.get_radius()) {
if (rover.current_loc.get_distance(guided_target.loc) <= g2.wp_nav.get_radius()) {
return true;
}
}
Expand Down
8 changes: 4 additions & 4 deletions Rover/mode_circle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ void ModeCircle::update()
_distance_to_destination = center_to_veh.length();
dist_to_edge_m = fabsf(_distance_to_destination - config.radius);
if (!reached_edge) {
const float dist_thresh_m = MAX(rover.g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST);
const float dist_thresh_m = MAX(g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST);
reached_edge = dist_to_edge_m <= dist_thresh_m;
}

Expand Down Expand Up @@ -266,8 +266,8 @@ void ModeCircle::check_config_speed()
void ModeCircle::check_config_radius()
{
// ensure radius is at least as large as vehicle's turn radius
if (config.radius < rover.g2.turn_radius) {
config.radius = rover.g2.turn_radius;
gcs().send_text(MAV_SEVERITY_WARNING, "Circle: radius increased to TURN_RADIUS (%4.1f)", (double)rover.g2.turn_radius);
if (config.radius < g2.turn_radius) {
config.radius = g2.turn_radius;
gcs().send_text(MAV_SEVERITY_WARNING, "Circle: radius increased to TURN_RADIUS (%4.1f)", (double)g2.turn_radius);
}
}
2 changes: 1 addition & 1 deletion Rover/mode_guided.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -443,5 +443,5 @@ bool ModeGuided::limit_breached() const
// scurves provide path planning and object avoidance but cannot handle fast updates to the destination (for fast updates use position controller input shaping)
bool ModeGuided::use_scurves_for_navigation() const
{
return ((rover.g2.guided_options.get() & uint32_t(Options::SCurvesUsedForNavigation)) != 0);
return ((g2.guided_options.get() & uint32_t(Options::SCurvesUsedForNavigation)) != 0);
}
6 changes: 3 additions & 3 deletions Rover/mode_loiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,16 @@ void ModeLoiter::update()
// get distance (in meters) to destination
_distance_to_destination = rover.current_loc.get_distance(_destination);

const float loiter_radius = rover.g2.sailboat.tack_enabled() ? g2.sailboat.get_loiter_radius() : g2.loit_radius;
const float loiter_radius = g2.sailboat.tack_enabled() ? g2.sailboat.get_loiter_radius() : g2.loit_radius;

// if within loiter radius slew desired speed towards zero and use existing desired heading
if (_distance_to_destination <= loiter_radius) {
// sailboats should not stop unless motoring
const float desired_speed_within_radius = rover.g2.sailboat.tack_enabled() ? 0.1f : 0.0f;
const float desired_speed_within_radius = g2.sailboat.tack_enabled() ? 0.1f : 0.0f;
_desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt);

// if we have a sail but not trying to use it then point into the wind
if (!rover.g2.sailboat.tack_enabled() && rover.g2.sailboat.sail_enabled()) {
if (!g2.sailboat.tack_enabled() && g2.sailboat.sail_enabled()) {
_desired_yaw_cd = degrees(g2.windvane.get_true_wind_direction_rad()) * 100.0f;
}
} else {
Expand Down
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