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AC_AttControl: get_boosted_throttle purely virtual

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This commit is contained in:
Randy Mackay 2015-07-13 15:00:24 +09:00
parent 4843be49de
commit 93dd7dd970
2 changed files with 1 additions and 18 deletions
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17
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -725,23 +725,6 @@ void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool r
_angle_boost = 0;
}
// returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1000
float AC_AttitudeControl::get_boosted_throttle(float throttle_in)
{
// inverted_factor is 1 for tilt angles below 60 degrees
// reduces as a function of angle beyond 60 degrees
// becomes zero at 90 degrees
float min_throttle = _motors.throttle_min();
float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
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 throttle_out = (throttle_in-min_throttle)*inverted_factor*boost_factor + min_throttle;
_angle_boost = constrain_float(throttle_out - throttle_in,-32000,32000);
return throttle_out;
}
// sqrt_controller - response based on the sqrt of the error instead of the more common linear response
float AC_AttitudeControl::sqrt_controller(float error, float p, float second_ord_lim)
{

2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -263,7 +263,7 @@ protected:
//
// calculate total body frame throttle required to produce the given earth frame throttle
virtual float get_boosted_throttle(float throttle_in);
virtual float get_boosted_throttle(float throttle_in) = 0;
// references to external libraries
const AP_AHRS& _ahrs;