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Functions: add gradual function with arbitrary number of corner points

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This commit is contained in:
Matthias Grob
2022-08-11 14:32:03 +02:00
committed by Beat Küng
parent 6a9a049f1e
commit 2edb35b1b5
3 changed files with 50 additions and 48 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -3
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@@ -102,9 +102,7 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
return math::interpolate(throttle_stick_input, 0.f, 1.f, _param_mpc_manthr_min.get(), _param_mpc_thr_max.get());
default: // 0 or other: rescale to hover throttle at 0.5 stick
return math::interpolate3(throttle_stick_input,
0.f, .5f, 1.f,
_param_mpc_manthr_min.get(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get());
return math::interpolateN(throttle_stick_input, {_param_mpc_manthr_min.get(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get()});
}
}