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AC_AttitudeControl: raise a config error if rate_controller_run_dt() is called by accident

This commit is contained in:
Andy Piper 2024-09-23 13:49:05 +01:00 committed by Peter Barker
parent 053db86abc
commit 15de449d12
1 changed files with 2 additions and 1 deletions
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3
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -11,6 +11,7 @@
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_PID.h>
#include <AC_PID/AC_P.h> #include <AC_PID/AC_P.h>
#include <AP_Vehicle/AP_MultiCopter.h> #include <AP_Vehicle/AP_MultiCopter.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#define AC_ATTITUDE_CONTROL_ANGLE_P 4.5f // default angle P gain for roll, pitch and yaw #define AC_ATTITUDE_CONTROL_ANGLE_P 4.5f // default angle P gain for roll, pitch and yaw
@ -244,7 +245,7 @@ public:
virtual void rate_controller_target_reset() {} virtual void rate_controller_target_reset() {}
// optional variant to allow running with different dt // optional variant to allow running with different dt
virtual void rate_controller_run_dt(float dt, const Vector3f& gyro) {} virtual void rate_controller_run_dt(float dt, const Vector3f& gyro) { AP_BoardConfig::config_error("rate_controller_run_dt() must be defined"); };
// Convert a 321-intrinsic euler angle derivative to an angular velocity vector // Convert a 321-intrinsic euler angle derivative to an angular velocity vector
void euler_rate_to_ang_vel(const Quaternion& att, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads); void euler_rate_to_ang_vel(const Quaternion& att, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads);