mirror of https://github.com/ArduPilot/ardupilot
TradHeli: Creating new unified roll/pitch rate controller.
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@ -571,8 +571,8 @@ static int32_t pitch_axis;
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// Filters
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#if FRAME_CONFIG == HELI_FRAME
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static LowPassFilterFloat rate_roll_filter; // Rate Roll filter
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static LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
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//static LowPassFilterFloat rate_roll_filter; // Rate Roll filter
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//static LowPassFilterFloat rate_pitch_filter; // Rate Pitch filter
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#endif // HELI_FRAME
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////////////////////////////////////////////////////////////////////////////////
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@ -410,8 +410,7 @@ run_rate_controllers()
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{
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#if FRAME_CONFIG == HELI_FRAME // helicopters only use rate controllers for yaw and only when not using an external gyro
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if(!motors.ext_gyro_enabled) {
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g.rc_1.servo_out = get_heli_rate_roll(roll_rate_target_bf);
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g.rc_2.servo_out = get_heli_rate_pitch(pitch_rate_target_bf);
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heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
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g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
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}
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#else
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@ -433,124 +432,83 @@ void init_rate_controllers()
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{
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// initalise low pass filters on rate controller inputs
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// 1st parameter is time_step, 2nd parameter is time_constant
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rate_roll_filter.set_cutoff_frequency(0.01f, 0.1f);
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rate_pitch_filter.set_cutoff_frequency(0.01f, 0.1f);
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// rate_roll_filter.set_cutoff_frequency(0.01f, 0.1f);
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// rate_pitch_filter.set_cutoff_frequency(0.01f, 0.1f);
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}
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static int16_t
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get_heli_rate_roll(int32_t target_rate)
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static void heli_integrated_swash_controller(int32_t target_roll_rate, int32_t target_pitch_rate)
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{
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int32_t p,i,d,ff; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t output; // output from pid controller
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static bool pid_saturated; // tracker from last loop if the PID was saturated
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int32_t roll_p, roll_i, roll_d, roll_ff; // used to capture pid values for logging
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int32_t pitch_p, pitch_i, pitch_d, pitch_ff;
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int32_t current_roll_rate, current_pitch_rate; // this iteration's rate
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int32_t roll_rate_error, pitch_rate_error; // simply target_rate - current_rate
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int32_t roll_output, pitch_output; // output from pid controller
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static bool roll_pid_saturated, pitch_pid_saturated; // tracker from last loop if the PID was saturated
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current_rate = (omega.x * DEGX100); // get current rate
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current_roll_rate = (omega.x * DEGX100); // get current roll rate
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current_pitch_rate = (omega.y * DEGX100); // get current pitch rate
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// filter input
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current_rate = rate_roll_filter.apply(current_rate);
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roll_rate_error = target_roll_rate - current_roll_rate;
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pitch_rate_error = target_pitch_rate - current_pitch_rate;
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rate_error = target_rate - current_rate;
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roll_p = g.pid_rate_roll.get_p(roll_rate_error);
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pitch_p = g.pid_rate_pitch.get_p(pitch_rate_error);
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p = g.pid_rate_roll.get_p(rate_error);
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if (pid_saturated){
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i = g.pid_rate_roll.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
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if (roll_pid_saturated){
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roll_i = g.pid_rate_roll.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
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} else {
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if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
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if (target_rate > -50 && target_rate < 50){ // Frozen at high rates
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i = g.pid_rate_roll.get_i(rate_error, G_Dt);
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if (target_roll_rate > -50 && target_roll_rate < 50){ // Frozen at high rates
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roll_i = g.pid_rate_roll.get_i(roll_rate_error, G_Dt);
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} else {
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i = g.pid_rate_roll.get_integrator();
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roll_i = g.pid_rate_roll.get_integrator();
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}
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} else {
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i = g.pid_rate_roll.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
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roll_i = g.pid_rate_roll.get_leaky_i(roll_rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
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}
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}
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d = g.pid_rate_roll.get_d(rate_error, G_Dt);
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ff = g.heli_roll_ff * target_rate;
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output = p + i + d + ff;
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if (labs(output) > 4500){
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output = constrain_int32(output, -4500, 4500); // constrain output
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pid_saturated = true; // freeze integrator next cycle
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} else {
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pid_saturated = false; // unfreeze integrator
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}
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the rate P, I or D gains
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_ROLL_PITCH_KP || g.radio_tuning == CH6_RATE_ROLL_PITCH_KI || g.radio_tuning == CH6_RATE_ROLL_PITCH_KD) ) {
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pid_log_counter++;
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if( pid_log_counter >= 10 ) { // (update rate / desired output rate) = (100hz / 10hz) = 10
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pid_log_counter = 0;
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Log_Write_PID(CH6_RATE_ROLL_PITCH_KP, rate_error, p, i, d, output, tuning_value);
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}
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}
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#endif
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return output; // output control
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}
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static int16_t
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get_heli_rate_pitch(int32_t target_rate)
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{
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int32_t p,i,d,ff; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t output; // output from pid controller
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static bool pid_saturated; // tracker from last loop if the PID was saturated
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current_rate = (omega.y * DEGX100); // get current rate
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// filter input
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current_rate = rate_pitch_filter.apply(current_rate);
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rate_error = target_rate - current_rate;
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p = g.pid_rate_pitch.get_p(rate_error);
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if (pid_saturated){
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i = g.pid_rate_pitch.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
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if (pitch_pid_saturated){
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pitch_i = g.pid_rate_pitch.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
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} else {
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if (motors.flybar_mode == 1) { // Mechanical Flybars get regular integral for rate auto trim
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if (target_rate > -50 && target_rate < 50){ // Frozen at high rates
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i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
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if (target_pitch_rate > -50 && target_pitch_rate < 50){ // Frozen at high rates
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pitch_i = g.pid_rate_pitch.get_i(pitch_rate_error, G_Dt);
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} else {
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i = g.pid_rate_pitch.get_integrator();
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pitch_i = g.pid_rate_pitch.get_integrator();
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}
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} else {
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i = g.pid_rate_pitch.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
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pitch_i = g.pid_rate_pitch.get_leaky_i(pitch_rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // Flybarless Helis get huge I-terms. I-term controls much of the rate
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}
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}
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d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
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roll_d = g.pid_rate_roll.get_d(target_roll_rate, G_Dt);
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pitch_d = g.pid_rate_pitch.get_d(target_pitch_rate, G_Dt);
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ff = g.heli_pitch_ff*target_rate;
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roll_ff = g.heli_roll_ff * target_roll_rate;
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pitch_ff = g.heli_pitch_ff * target_pitch_rate;
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output = p + i + d + ff;
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// Joly, I think your PC and CC code goes here
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if (labs(output) > 4500){
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output = constrain_int32(output, -4500, 4500); // constrain output
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pid_saturated = true; // freeze integrator next cycle
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roll_output = roll_p + roll_i + roll_d + roll_ff;
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pitch_output = pitch_p + pitch_i + pitch_d + pitch_ff;
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if (labs(roll_output) > 4500){
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roll_output = constrain_int32(roll_output, -4500, 4500); // constrain output
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roll_pid_saturated = true; // freeze integrator next cycle
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} else {
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pid_saturated = false; // unfreeze integrator
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roll_pid_saturated = false; // unfreeze integrator
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}
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#if LOGGING_ENABLED == ENABLED
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// log output if PID logging is on and we are tuning the rate P, I or D gains
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if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_ROLL_PITCH_KP || g.radio_tuning == CH6_RATE_ROLL_PITCH_KI || g.radio_tuning == CH6_RATE_ROLL_PITCH_KD) ) {
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if( pid_log_counter == 0 ) { // relies on get_heli_rate_roll to update pid_log_counter
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Log_Write_PID(CH6_RATE_ROLL_PITCH_KP+100, rate_error, p, i, 0, output, tuning_value);
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if (labs(pitch_output) > 4500){
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pitch_output = constrain_int32(pitch_output, -4500, 4500); // constrain output
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pitch_pid_saturated = true; // freeze integrator next cycle
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} else {
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pitch_pid_saturated = false; // unfreeze integrator
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}
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}
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#endif
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return output; // output control
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g.rc_1.servo_out = roll_output;
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g.rc_2.servo_out = pitch_output;
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}
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static int16_t
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