mirror of https://github.com/ArduPilot/ardupilot
Motors: add get_roll_thrust which returns roll input in range 0 to 1
Also added get_pitch_thrust, get_yaw_thrust
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@ -71,6 +71,11 @@ public:
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float get_yaw() const { return _yaw_control_input; }
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float get_throttle() const { return _throttle_control_input; }
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// accessors for roll, pitch, yaw to motors within the range -1 ~ +1
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float get_roll_thrust() const { return _roll_control_input / 4500.0f; }
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float get_pitch_thrust() const { return _pitch_control_input / 4500.0f; }
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float get_yaw_thrust() const { return _yaw_control_input / 4500.0f; }
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void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
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//
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