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@ -77,6 +77,9 @@ private:
@@ -77,6 +77,9 @@ private:
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// calculate total body frame throttle required to produce the given earth frame throttle
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float get_boosted_throttle(float throttle_in); |
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// pass through for roll and pitch
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int16_t _passthrough_roll; |
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int16_t _passthrough_pitch; |
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// LPF filters to act on Rate Feedforward terms to linearize output.
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// Due to complicated aerodynamic effects, feedforwards acting too fast can lead
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@ -85,9 +88,6 @@ private:
@@ -85,9 +88,6 @@ private:
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LowPassFilterFloat roll_feedforward_filter; |
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LowPassFilterFloat yaw_feedforward_filter; |
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// pass through for roll and pitch
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int16_t _passthrough_roll; |
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int16_t _passthrough_pitch; |
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}; |
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#endif //AC_ATTITUDECONTROL_HELI_H
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