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Rename math::gradual() to math::interpolate() and add unit tests to cover additional corner cases.

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mcsauder
2022-08-18 14:18:02 +02:00
committed by Mathieu Bresciani
parent 021b23826d
commit 87a5705960
8 changed files with 93 additions and 80 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+4 -4
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@@ -99,12 +99,12 @@ MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
// throttle_stick_input is in range [0, 1]
switch (_param_mpc_thr_curve.get()) {
case 1: // no rescaling to hover throttle
return math::gradual(throttle_stick_input, 0.f, 1.f, _param_mpc_manthr_min.get(), _param_mpc_thr_max.get());
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::gradual3(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::interpolate3(throttle_stick_input,
0.f, .5f, 1.f,
_param_mpc_manthr_min.get(), _param_mpc_thr_hover.get(), _param_mpc_thr_max.get());
}
}