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AC_AttitudeControl: add throttle filter cutoff parameter to set_throttle_out functions

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This commit is contained in:
Jonathan Challinger 2015-04-15 21:55:59 -07:00 committed by Randy Mackay
parent e80776f1f5
commit b7f7624aac
2 changed files with 6 additions and 4 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -694,9 +694,10 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
// provide 0 to cut motors
void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_boost)
void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_boost, float filter_cutoff)
{
_motors.set_stabilizing(true);
_motors.set_throttle_filter_cutoff(filter_cutoff);
if (apply_angle_boost) {
_motors.set_throttle(get_boosted_throttle(throttle_out));
}else{
@ -707,12 +708,13 @@ void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_b
}
// outputs a throttle to all motors evenly with no attitude stabilization
void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control)
void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filter_cutoff)
{
if (reset_attitude_control) {
relax_bf_rate_controller();
set_yaw_target_to_current_heading();
}
_motors.set_throttle_filter_cutoff(filter_cutoff);
_motors.set_stabilizing(false);
_motors.set_throttle(throttle_in);
_angle_boost = 0;

4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -179,10 +179,10 @@ public:
//
// set_throttle_out - to be called by upper throttle controllers when they wish to provide throttle output directly to motors
void set_throttle_out(float throttle_pwm, bool apply_angle_boost);
void set_throttle_out(float throttle_pwm, bool apply_angle_boost, float filt_cutoff);
// outputs a throttle to all motors evenly with no stabilization
void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control);
void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control, float filt_cutoff);
// angle_boost - accessor for angle boost so it can be logged
int16_t angle_boost() const { return _angle_boost; }