mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
#include "AP_EFI_config.h"
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#if AP_EFI_THROTTLE_LINEARISATION_ENABLED
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#include "AP_EFI.h"
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#include <AP_Param/AP_Param.h>
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// settings for throttle linearisation
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const AP_Param::GroupInfo AP_EFI_ThrLin::var_info[] = {
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// @Param: _EN
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// @DisplayName: Enable throttle linearisation
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// @Description: Enable EFI throttle linearisation
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// @Values: 0:Disabled, 1:Enabled
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// @User: Advanced
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AP_GROUPINFO_FLAGS("_EN", 1, AP_EFI_ThrLin, enable, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _COEF1
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// @DisplayName: Throttle linearisation - First Order
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// @Description: First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)
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// @Range: -1 1
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("_COEF1", 2, AP_EFI_ThrLin, coefficient[0], 1),
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// @Param: _COEF2
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// @DisplayName: Throttle linearisation - Second Order
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// @Description: Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)
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// @Range: -1 1
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("_COEF2", 3, AP_EFI_ThrLin, coefficient[1], 0),
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// @Param: _COEF3
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// @DisplayName: Throttle linearisation - Third Order
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// @Description: Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)
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// @Range: -1 1
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("_COEF3", 4, AP_EFI_ThrLin, coefficient[2], 0),
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// @Param: _OFS
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// @DisplayName: throttle linearization offset
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// @Description: Offset for throttle linearization
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// @Range: 0 100
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("_OFS", 5, AP_EFI_ThrLin, offset, 0),
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AP_GROUPEND
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};
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AP_EFI_ThrLin::AP_EFI_ThrLin(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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/*
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apply throttle linearisation
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*/
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float AP_EFI_ThrLin::linearise_throttle(float throttle_percent)
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{
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if (!enable) {
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return throttle_percent;
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}
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float ret = coefficient[0] * throttle_percent;
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ret += coefficient[1] * throttle_percent * throttle_percent;
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ret += coefficient[2] * throttle_percent * throttle_percent * throttle_percent;
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ret += offset;
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return ret;
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}
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#endif // AP_EFI_THROTTLE_LINEARISATION_ENABLED
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