Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: various suggested cleanup items

Browse Source 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
This commit is contained in:
Bill Geyer 2024-04-01 19:36:54 -04:00 committed by Randy Mackay
parent 29897f99af
commit c5585f84af
2 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
View File

@ -569,7 +569,8 @@ float AC_AttitudeControl_Heli::get_throttle_boosted(float throttle_in)
float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f); float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f);
// angle boost and inverted factor applied about the zero thrust collective // angle boost and inverted factor applied about the zero thrust collective
float throttle_out = (throttle_in - ((AP_MotorsHeli&)_motors).get_coll_mid()) * inverted_factor * boost_factor + ((AP_MotorsHeli&)_motors).get_coll_mid(); const float coll_mid = ((AP_MotorsHeli&)_motors).get_coll_mid();
float throttle_out = ((throttle_in - coll_mid) * inverted_factor * boost_factor) + coll_mid;
_angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f); _angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f);
return throttle_out; return throttle_out;
} }

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
View File

@ -90,10 +90,10 @@ public:
void input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds) override; void input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds) override;
// enable/disable inverted flight // enable/disable inverted flight
void set_inverted_flight(bool inverted) override { _inverted_flight = inverted;} void set_inverted_flight(bool inverted) override { _inverted_flight = inverted; }
// accessor for inverted flight flag // accessor for inverted flight flag
bool get_inverted_flight() override { return _inverted_flight;} bool get_inverted_flight() override { return _inverted_flight; }
// set the PID notch sample rates // set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) override; void set_notch_sample_rate(float sample_rate) override;
@ -136,7 +136,7 @@ private:
float _passthrough_yaw; float _passthrough_yaw;
// get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover // get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
float get_roll_trim_rad() override { return constrain_float(radians(get_roll_trim_cd() * 0.01f), -radians(10.0f),radians(10.0f));} float get_roll_trim_rad() override { return radians(get_roll_trim_cd() * 0.01); }
// internal variables // internal variables
float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim