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AC_AttitudeControl_Heli: Add Hover Roll Trim Scalar

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Robert Lefebvre 2015-10-23 18:40:28 -04:00 committed by Randy Mackay
parent 99212f71bf
commit da1638d72c
1 changed files with 7 additions and 1 deletions
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8
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -64,6 +64,9 @@ public:
// do_piro_comp - controls whether piro-comp is active or not // do_piro_comp - controls whether piro-comp is active or not
void do_piro_comp(bool piro_comp) { _flags_heli.do_piro_comp = piro_comp; } void do_piro_comp(bool piro_comp) { _flags_heli.do_piro_comp = piro_comp; }
// set_hover_roll_scalar - scales Hover Roll Trim parameter. To be used by vehicle code according to vehicle condition.
void set_hover_roll_trim_scalar(float scalar) {_hover_roll_trim_scalar = constrain_float(scalar, 0.0f, 1.0f);}
// user settable parameters // user settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -103,7 +106,10 @@ private:
int16_t _passthrough_yaw; int16_t _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
int16_t get_roll_trim() { return constrain_int16(_hover_roll_trim, -1000, 1000);} int16_t get_roll_trim() { return constrain_int16(_hover_roll_trim_scalar * _hover_roll_trim, -1000, 1000);}
// internal variables
float _hover_roll_trim_scalar = 0; // scalar used to suppress Hover Roll Trim
// parameters // parameters
AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode