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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_EFI/AP_EFI_ThrottleLinearisation.cpp
Views: 1798
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#include "AP_EFI_config.h"

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#if AP_EFI_THROTTLE_LINEARISATION_ENABLED

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#include "AP_EFI.h"

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#include <AP_Param/AP_Param.h>

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// settings for throttle linearisation

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const AP_Param::GroupInfo AP_EFI_ThrLin::var_info[] = {

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    // @Param: _EN

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    // @DisplayName: Enable throttle linearisation

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    // @Description: Enable EFI throttle linearisation

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    // @Values: 0:Disabled, 1:Enabled

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    // @User: Advanced

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    AP_GROUPINFO_FLAGS("_EN", 1, AP_EFI_ThrLin, enable, 0, AP_PARAM_FLAG_ENABLE),

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    // @Param: _COEF1

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    // @DisplayName: Throttle linearisation - First Order

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    // @Description: First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

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    // @Range: -1 1

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("_COEF1", 2, AP_EFI_ThrLin, coefficient[0], 1),

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    // @Param: _COEF2

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    // @DisplayName: Throttle linearisation - Second Order

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    // @Description: Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

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    // @Range: -1 1

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("_COEF2", 3, AP_EFI_ThrLin, coefficient[1], 0),

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    // @Param: _COEF3

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    // @DisplayName: Throttle linearisation - Third Order

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    // @Description: Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

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    // @Range: -1 1

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("_COEF3", 4, AP_EFI_ThrLin, coefficient[2], 0),

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    // @Param: _OFS

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    // @DisplayName: throttle linearization offset

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    // @Description: Offset for throttle linearization 

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    // @Range: 0 100

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    // @User: Advanced

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    // @RebootRequired: True

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    AP_GROUPINFO("_OFS", 5, AP_EFI_ThrLin, offset, 0),

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    AP_GROUPEND

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};

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AP_EFI_ThrLin::AP_EFI_ThrLin(void)

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{

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    AP_Param::setup_object_defaults(this, var_info);

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}

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/*

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  apply throttle linearisation

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 */

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float AP_EFI_ThrLin::linearise_throttle(float throttle_percent)

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{

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    if (!enable) {

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        return throttle_percent;

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    }

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    float ret = coefficient[0] * throttle_percent;

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    ret += coefficient[1] * throttle_percent * throttle_percent;

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    ret += coefficient[2] * throttle_percent * throttle_percent * throttle_percent;

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    ret += offset;

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    return ret;

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}

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#endif // AP_EFI_THROTTLE_LINEARISATION_ENABLED

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