AC_AttControl: get_boosted_throttle purely virtual

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -725,23 +725,6 @@ void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool r
     _angle_boost = 0;
 }
 
-// returns a throttle including compensation for roll/pitch angle
-// throttle value should be 0 ~ 1000
-float AC_AttitudeControl::get_boosted_throttle(float throttle_in)
-{
-    // inverted_factor is 1 for tilt angles below 60 degrees
-    // reduces as a function of angle beyond 60 degrees
-    // becomes zero at 90 degrees
-    float min_throttle = _motors.throttle_min();
-    float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
-    float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f);
-    float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f);
-
-    float throttle_out = (throttle_in-min_throttle)*inverted_factor*boost_factor + min_throttle;
-    _angle_boost = constrain_float(throttle_out - throttle_in,-32000,32000);
-    return throttle_out;
-}
-
 // sqrt_controller - response based on the sqrt of the error instead of the more common linear response
 float AC_AttitudeControl::sqrt_controller(float error, float p, float second_ord_lim)
 {

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -263,7 +263,7 @@ protected:
     //
 
     // calculate total body frame throttle required to produce the given earth frame throttle
-    virtual float get_boosted_throttle(float throttle_in);
+    virtual float get_boosted_throttle(float throttle_in) = 0;
 
     // references to external libraries
     const AP_AHRS&      _ahrs;