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AC_AttControl: add ANGLE_BOOST param 

This allows disabling angle boost
This commit is contained in:
Randy Mackay 2016-01-07 12:11:27 +09:00
parent 6c458b07cb
commit 5ddd332277
3 changed files with 14 additions and 0 deletions
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7
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -59,6 +59,13 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
// IDs 8,9,10,11 RESERVED (in use on Solo)
// @Param: ANGLE_BOOST
// @DisplayName: Angle Boost
// @Description: Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("ANGLE_BOOST", 12, AC_AttitudeControl, _angle_boost_enabled, 1),
AP_GROUPEND
};

3
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -293,6 +293,9 @@ protected:
// Enable/Disable body frame rate feed forward
AP_Int8 _rate_bf_ff_enabled;
// Enable/Disable angle boost
AP_Int8 _angle_boost_enabled;
// Intersampling period in seconds
float _dt;

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
View File

@ -16,6 +16,10 @@ float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const
// throttle value should be 0 ~ 1000
float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
{
if (!_angle_boost_enabled) {
return throttle_in;
_angle_boost = 0;
}
// inverted_factor is 1 for tilt angles below 60 degrees
// reduces as a function of angle beyond 60 degrees
// becomes zero at 90 degrees