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Motors: add get_roll_thrust which returns roll input in range 0 to 1

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Also added get_pitch_thrust, get_yaw_thrust
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Leonard Hall 2015-12-03 14:48:10 +09:00 committed by Randy Mackay
parent f73c8ab8ed
commit 3c74b4cc69
1 changed files with 5 additions and 0 deletions
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libraries/AP_Motors/AP_Motors_Class.h
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@ -71,6 +71,11 @@ public:
float get_yaw() const { return _yaw_control_input; } float get_yaw() const { return _yaw_control_input; }
float get_throttle() const { return _throttle_control_input; } float get_throttle() const { return _throttle_control_input; }
// accessors for roll, pitch, yaw to motors within the range -1 ~ +1
float get_roll_thrust() const { return _roll_control_input / 4500.0f; }
float get_pitch_thrust() const { return _pitch_control_input / 4500.0f; }
float get_yaw_thrust() const { return _yaw_control_input / 4500.0f; }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); } void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
// //