/*
call vehicle supplied thrust compensation if set. This allows for
vehicle specific thrust compensation for motor arrangements such as
the forward motors tilting
*/
void AP_MotorsTri::thrust_compensation(void)
{
if (_thrust_compensation_callback) {
// convert 3 thrust values into an array indexed by motor number
float thrust[4] { _thrust_right, _thrust_left, 0, _thrust_rear };
// apply vehicle supplied compensation function
_thrust_compensation_callback(thrust, 4);
// extract compensated thrust values
_thrust_right = thrust[0];
_thrust_left = thrust[1];
_thrust_rear = thrust[3];
}
}
/*
call vehicle supplied thrust compensation if set. This allows
vehicle code to compensate for vehicle specific motor arrangements
such as tiltrotors or tiltwings
*/
void AP_MotorsMatrix::thrust_compensation(void)
{
if (_thrust_compensation_callback) {
_thrust_compensation_callback(_thrust_rpyt_out, AP_MOTORS_MAX_NUM_MOTORS);
}
}
