Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: balance bot passes motor limits to pitch control

This commit is contained in:
Randy Mackay 2018-08-04 16:07:59 +09:00
parent d5ef3c2e0f
commit 961aab7425
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/balance_bot.cpp
View File

@ -8,7 +8,7 @@ void Rover::balancebot_pitch_control(float &throttle, bool armed)
const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max);
// calculate required throttle using PID controller
const float balance_throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, armed, G_Dt) * 100.0f;
const float balance_throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, g2.motors.limit.throttle_lower, g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
// constrain throttle between -100 and 100
throttle = constrain_float(balance_throttle, -100.0f, 100.0f);