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39 lines
1.4 KiB
39 lines
1.4 KiB
// -*- 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/AP_HAL.h> |
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#include <AP_Math/AP_Math.h> |
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// get lean angle max for pilot input that prioritises altitude hold over lean angle |
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float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const |
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{ |
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// calc maximum tilt angle based on throttle |
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float thr_max = _motors_multi.get_throttle_thrust_max(); |
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// divide by zero check |
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if (is_zero(thr_max)) { |
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return 0.0f; |
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} |
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return ToDeg(acos(constrain_float(_throttle_in_filt.get()/(0.9f * thr_max), 0.0f, 1.0f))) * 100.0f; |
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} |
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// returns a throttle including compensation for roll/pitch angle |
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// throttle value should be 0 ~ 1 |
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float AC_AttitudeControl_Multi::get_boosted_throttle(float throttle_in) |
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{ |
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if (!_angle_boost_enabled) { |
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_angle_boost = 0; |
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return throttle_in; |
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} |
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// inverted_factor is 1 for tilt angles below 60 degrees |
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// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees |
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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*inverted_factor*boost_factor; |
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_angle_boost = constrain_float(throttle_out - throttle_in,-1.0f,1.0f); |
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return throttle_out; |
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}
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