AC_AttitudeControl: tradheli-add support for throttle boost feature

bnsgeyer · Mar 13, 2024 · 00cfac2 · 00cfac2
1 parent 266369d
commit 00cfac2
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -76,6 +76,9 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
     // Set output throttle
     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_throttle_boosted(float throttle_in);
+
     // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
     void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds) override;