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AC_AttControl_Multi: fix throttle boost for 0 to 1

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Leonard Hall 2015-12-20 21:41:51 +10:30 committed by Randy Mackay
parent bab08cbcc1
commit 24f975c16a
1 changed files with 5 additions and 6 deletions
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11
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -19,7 +19,7 @@ float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const
} }
// returns a throttle including compensation for roll/pitch angle // returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1000 // throttle value should be 0 ~ 1
float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in) float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
{ {
if (!_angle_boost_enabled) { if (!_angle_boost_enabled) {
@ -27,14 +27,13 @@ float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
return throttle_in; return throttle_in;
} }
// inverted_factor is 1 for tilt angles below 60 degrees // inverted_factor is 1 for tilt angles below 60 degrees
// reduces as a function of angle beyond 60 degrees // inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees
// becomes zero at 90 degrees
float min_throttle = _motors_multi.throttle_min();
float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll(); float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f); float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f);
float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f); float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f);
float throttle_out = (throttle_in-min_throttle)*inverted_factor*boost_factor + min_throttle; float throttle_out = throttle_in*inverted_factor*boost_factor;
_angle_boost = constrain_float(throttle_out - throttle_in,-32000,32000); _angle_boost = constrain_float(throttle_out - throttle_in,-1.0f,1.0f);
return throttle_out; return throttle_out;
} }