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Sub: AP_Motors6DOF: create get_throttle_in_bidirectional()

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Willian Galvani 2019-09-26 22:50:38 -03:00 committed by Andrew Tridgell
parent efddff71bf
commit ac1ef0bc6a
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Motors/AP_Motors6DOF.h
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@ -41,6 +41,10 @@ public:
// output_to_motors - sends minimum values out to the motors // output_to_motors - sends minimum values out to the motors
void output_to_motors() override; void output_to_motors() override;
// This allows us to read back the output of the altidude controllers
// The controllers are in charge of the throttle input, so this gives vehicle access/visibility to the output of those controllers
float get_throttle_in_bidirectional() const { return constrain_float(2*(_throttle_in - 0.5f), -1.0f, 1.0f); }
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];