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AC_AttitudeControlMulti: get_throttle_avg_max made private

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Also fixed up method's description
This commit is contained in:
Randy Mackay 2016-06-09 17:31:59 +09:00
parent da946288a2
commit b27da7699e
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -61,9 +61,6 @@ public:
// calculate total body frame throttle required to produce the given earth frame throttle // calculate total body frame throttle required to produce the given earth frame throttle
float get_throttle_boosted(float throttle_in); 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) // 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 // 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 // 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 // update_throttle_rpy_mix - updates thr_low_comp value towards the target
void update_throttle_rpy_mix(); 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; AP_MotorsMulticopter& _motors_multi;
AC_PID _pid_rate_roll; AC_PID _pid_rate_roll;
AC_PID _pid_rate_pitch; AC_PID _pid_rate_pitch;