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AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted

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This commit is contained in:
Leonard Hall 2016-03-21 21:31:17 +10:30 committed by Randy Mackay
parent 35ef761deb
commit 25c77c154f
4 changed files with 4 additions and 7 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -264,7 +264,7 @@ protected:
virtual float rate_bf_to_motor_yaw(float rate_target_rads);
// Compute a throttle value that is adjusted for the tilt angle of the vehicle
virtual float get_boosted_throttle(float throttle_in) = 0;
virtual float get_throttle_boosted(float throttle_in) = 0;
// Return angle in radians to be added to roll angle. Used by heli to counteract
// tail rotor thrust in hover. Overloaded by AC_Attitude_Heli to return angle.

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -125,9 +125,6 @@ private:
//
// throttle methods
//
// calculate total body frame throttle required to produce the given earth frame throttle
float get_boosted_throttle(float throttle_in);
// pass through for roll and pitch
int16_t _passthrough_roll;

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -153,7 +153,7 @@ void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_an
_throttle_in_filt.apply(throttle_in, _dt);
_motors.set_throttle_filter_cutoff(filter_cutoff);
if (apply_angle_boost) {
_motors.set_throttle(get_boosted_throttle(throttle_in));
_motors.set_throttle(get_throttle_boosted(throttle_in));
}else{
_motors.set_throttle(throttle_in);
// Clear angle_boost for logging purposes
@ -163,7 +163,7 @@ void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_an
// returns a throttle including compensation for roll/pitch angle
// throttle value should be 0 ~ 1
float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in)
float AC_AttitudeControl_Multi::get_throttle_boosted(float throttle_in)
{
if (!_angle_boost_enabled) {
_angle_boost = 0;

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -59,7 +59,7 @@ public:
void set_throttle_out(float throttle_in, bool apply_angle_boost, float filt_cutoff) override;
// calculate total body frame throttle required to produce the given earth frame throttle
float get_boosted_throttle(float throttle_in);
float get_throttle_boosted(float throttle_in);
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];