mirror of https://github.com/ArduPilot/ardupilot
24 lines
858 B
C++
24 lines
858 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, bool armed)
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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);
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// calculate required throttle using PID controller
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const float balance_throttle = g2.attitude_control.get_throttle_out_from_pitch(demanded_pitch, armed, G_Dt) * 100.0f;
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// constrain throttle between -100 and 100
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throttle = constrain_float(balance_throttle, -100.0f, 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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