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AC_AttitudeControl: modify throttle interface to specify stabilization

This commit is contained in:
Jonathan Challinger 2015-03-25 01:18:40 -07:00 committed by Randy Mackay
parent 5c2341009a
commit f3555d0d43
2 changed files with 16 additions and 1 deletions
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13
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -696,6 +696,7 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits)
// provide 0 to cut motors
void AC_AttitudeControl::set_throttle_out(float throttle_out, bool apply_angle_boost)
{
_motors.set_stabilizing(true);
if (apply_angle_boost) {
_motors.set_throttle(get_angle_boost(throttle_out));
}else{
@ -705,6 +706,18 @@ 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)
{
if (reset_attitude_control) {
relax_bf_rate_controller();
set_yaw_target_to_current_heading();
}
_motors.set_stabilizing(false);
_motors.set_throttle(throttle_in);
_angle_boost = 0;
}
// get_angle_boost - returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1000
float AC_AttitudeControl::get_angle_boost(float throttle_pwm)

4
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -179,9 +179,11 @@ public:
//
// 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 set_throttle_out(float throttle_pwm, bool apply_angle_boost);
// outputs a throttle to all motors evenly with no stabilization
void set_throttle_out_unstabilized(float throttle_in, bool reset_attitude_control);
// angle_boost - accessor for angle boost so it can be logged
int16_t angle_boost() const { return _angle_boost; }