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Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc

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Randy Mackay
2017-07-10 11:49:42 +09:00
parent a727305a59
commit da17034a3d
10 changed files with 27 additions and 51 deletions
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7
ArduSub/Attitude.cpp
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@@ -1,12 +1,5 @@
#include "Sub.h"
// get_smoothing_gain - returns smoothing gain to be passed into attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw
// result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp
float Sub::get_smoothing_gain()
{
return (2.0f + (float)g.rc_feel_rp/10.0f);
}
// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
// returns desired angle in centi-degrees
void Sub::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)