From b27da7699e2655a05a1a8197118a3c8e04d6a67b Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 9 Jun 2016 17:31:59 +0900 Subject: [PATCH] AC_AttitudeControlMulti: get_throttle_avg_max made private Also fixed up method's description --- libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h index 26b137b6bf..ca4085087b 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h @@ -61,9 +61,6 @@ public: // calculate total body frame throttle required to produce the given earth frame throttle float get_throttle_boosted(float throttle_in); - // calculate total body frame throttle required to produce the given earth frame throttle - float get_throttle_avg_max(float throttle_in); - // set desired throttle vs attitude mixing (actual mix is slewed towards this value over 1~2 seconds) // low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle // has no effect when throttle is above hover throttle @@ -85,6 +82,9 @@ protected: // update_throttle_rpy_mix - updates thr_low_comp value towards the target void update_throttle_rpy_mix(); + // get maximum value throttle can be raised to based on throttle vs attitude prioritisation + float get_throttle_avg_max(float throttle_in); + AP_MotorsMulticopter& _motors_multi; AC_PID _pid_rate_roll; AC_PID _pid_rate_pitch;