mirror of https://github.com/ArduPilot/ardupilot
21 lines
826 B
C++
21 lines
826 B
C++
#include<stdio.h>
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#include "Rover.h"
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// Function to set a desired pitch angle according to throttle
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void Rover::balancebot_pitch_control(float &throttle)
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{
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// calculate desired pitch angle
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const float demanded_pitch = radians(-throttle * 0.01f * g2.bal_pitch_max) + radians(g2.bal_pitch_trim);
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// calculate required throttle using PID controller
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throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, radians(g2.bal_pitch_max), g2.motors.limit.throttle_lower || g2.motors.limit.throttle_upper, G_Dt) * 100.0f;
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}
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// returns true if vehicle is a balance bot
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// called in AP_MotorsUGV::output()
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// this affects whether the vehicle tries to control its pitch with throttle output
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bool Rover::is_balancebot() const
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{
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return ((enum frame_class)g2.frame_class.get() == FRAME_BALANCEBOT);
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}
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