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Sub: AP_Motors6DOF: create get_throttle_in_bidirectional()
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@ -41,6 +41,10 @@ public:
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// output_to_motors - sends minimum values out to the motors
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void output_to_motors() override;
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// This allows us to read back the output of the altidude controllers
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// The controllers are in charge of the throttle input, so this gives vehicle access/visibility to the output of those controllers
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float get_throttle_in_bidirectional() const { return constrain_float(2*(_throttle_in - 0.5f), -1.0f, 1.0f); }
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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