Sub: AP_Motors6DOF: create get_throttle_in_bidirectional()

This commit is contained in:
Willian Galvani 2019-09-26 22:50:38 -03:00 committed by Jacob Walser
parent 4edd161bd3
commit 1209c946e6

View File

@ -41,6 +41,10 @@ public:
// output_to_motors - sends minimum values out to the motors
void output_to_motors() override;
// This allows us to read back the output of the altidude controllers
// The controllers are in charge of the throttle input, so this gives vehicle access/visibility to the output of those controllers
float get_throttle_in_bidirectional() const { return constrain_float(2*(_throttle_in - 0.5f), -1.0f, 1.0f); }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];