void AC_AttitudeControl_Heli::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff) { _throttle_in = throttle_in; update_althold_lean_angle_max(throttle_in); _motors.set_throttle_filter_cutoff(filter_cutoff); _motors.set_throttle(throttle_in); // Clear angle_boost for logging purposes _angle_boost = 0.0f; }
void AC_AttitudeControl_Multi::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff) { _throttle_in = throttle_in; update_althold_lean_angle_max(throttle_in); _motors.set_throttle_filter_cutoff(filter_cutoff); if (apply_angle_boost) { // Apply angle boost throttle_in = get_throttle_boosted(throttle_in); }else{ // Clear angle_boost for logging purposes _angle_boost = 0.0f; } _motors.set_throttle(throttle_in); _motors.set_throttle_avg_max(get_throttle_avg_max(MAX(throttle_in, _throttle_in))); }