{"action":"created","comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/comments/191306242","pull_request_review_id":123850069,"id":191306242,"diff_hunk":"@@ -109,10 +112,10 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t\n }\n \n // decode pilot steering and return steering_out and speed_out (in m/s)\n-void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out)\n+void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out, float &lateral_out)","path":"APMrover2/mode.cpp","position":49,"original_position":49,"commit_id":"206ad3aa4eda21d8305e8a60283043bf2175da24","original_commit_id":"206ad3aa4eda21d8305e8a60283043bf2175da24","user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars2.githubusercontent.com/u/1498098?v=4","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"body":"we never actually use the lateral_out from this function in any modes right now.  I guess the idea is that we will in the future.  We have a \"golden rule\" in the team that we don't add code before it's actually used because it is sometimes forgotten.\r\n\r\nLet's see what others say but maybe we should remove the lateral_out argument from this function.","created_at":"2018-05-29T05:20:51Z","updated_at":"2018-05-29T05:33:03Z","html_url":"https://github.com/ArduPilot/ardupilot/pull/8521#discussion_r191306242","pull_request_url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8521","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/comments/191306242"},"html":{"href":"https://github.com/ArduPilot/ardupilot/pull/8521#discussion_r191306242"},"pull_request":{"href":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8521"}}},"pull_request":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/pulls/8521","id":191024111,"html_url":"https://github.com/ArduPilot/ardupilot/pull/8521","diff_url":"https://github.com/ArduPilot/ardupilot/pull/8521.diff","patch_url":"https://github.com/ArduPilot/ardupilot/pull/8521.patch","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/8521","number":8521,"state":"open","locked":false,"title":"Rover: add support for lateral control input in manual mode","user":{"login":"Ammarf","id":35584084,"avatar_url":"https://avatars1.githubusercontent.com/u/35584084?v=4","gravatar_id":"","url":"https://api.github.com/users/Ammarf","html_url":"https://github.com/Ammarf","followers_url":"https://api.github.com/users/Ammarf/followers","following_url":"https://api.github.com/users/Ammarf/following{/other_user}","gists_url":"https://api.github.com/users/Ammarf/gists{/gist_id}","starred_url":"https://api.github.com/users/Ammarf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Ammarf/subscriptions","organizations_url":"https://api.github.com/users/Ammarf/orgs","repos_url":"https://api.github.com/users/Ammarf/repos","events_url":"https://api.github.com/users/Ammarf/events{/privacy}","received_events_url":"https://api.github.com/users/Ammarf/received_events","type":"User","site_admin":false},"body":"This PR adds support for lateral control in Rover, it also has changes in the omni rover code so it can take advantage of lateral movement in manual mode. 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