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AC_AttitudeControl: added get_throttle_mix()

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and when we use set_throttle_mix_value(), set both desired and actual

thanks to Leonard for the suggestions
This commit is contained in:
Andrew Tridgell 2017-04-18 22:24:48 +10:00
parent 8e3f8f47c8
commit fe3e7e8153
2 changed files with 3 additions and 1 deletions
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1
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -247,6 +247,7 @@ public:
virtual void set_throttle_mix_man() {}
virtual void set_throttle_mix_max() {}
virtual void set_throttle_mix_value(float value) {}
virtual float get_throttle_mix(void) const { return 0; }
// enable use of flybass passthrough on heli
virtual void use_flybar_passthrough(bool passthrough, bool tail_passthrough) {}

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -66,7 +66,8 @@ public:
void set_throttle_mix_min() override { _throttle_rpy_mix_desired = _thr_mix_min; }
void set_throttle_mix_man() override { _throttle_rpy_mix_desired = _thr_mix_man; }
void set_throttle_mix_max() override { _throttle_rpy_mix_desired = _thr_mix_max; }
void set_throttle_mix_value(float value) override { _throttle_rpy_mix_desired = value; }
void set_throttle_mix_value(float value) override { _throttle_rpy_mix_desired = _throttle_rpy_mix = value; }
float get_throttle_mix(void) const override { return _throttle_rpy_mix; }
// are we producing min throttle?
bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }