mirror of https://github.com/ArduPilot/ardupilot
23 lines
941 B
C++
23 lines
941 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include "AC_AttitudeControl_Multi.h"
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#include <AP_HAL.h>
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#include <AP_Math.h>
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// returns a throttle including compensation for roll/pitch angle
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// throttle value should be 0 ~ 1000
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float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
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{
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// inverted_factor is 1 for tilt angles below 60 degrees
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// reduces as a function of angle beyond 60 degrees
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// becomes zero at 90 degrees
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float min_throttle = _motors_multi.throttle_min();
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float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
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float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f);
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float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f);
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float throttle_out = (throttle_in-min_throttle)*inverted_factor*boost_factor + min_throttle;
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_angle_boost = constrain_float(throttle_out - throttle_in,-32000,32000);
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return throttle_out;
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}
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