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AC_AttitudeControl: CommandModel: use new defualt pattern

This commit is contained in:
Iampete1 2023-01-03 17:22:22 +00:00 committed by Andrew Tridgell
parent 6cd5cf8195
commit 46e560f3f6
2 changed files with 11 additions and 7 deletions
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14
libraries/AC_AttitudeControl/AC_CommandModel.cpp
View File

@ -15,7 +15,7 @@ const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
// @Units: deg/s // @Units: deg/s
// @Range: 1 360 // @Range: 1 360
// @User: Standard // @User: Standard
AP_GROUPINFO("RATE", 1, AC_CommandModel, rate, 202.5), AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE", 1, AC_CommandModel, rate, default_rate),
// @Param: EXPO // @Param: EXPO
// @DisplayName: Controlled Expo // @DisplayName: Controlled Expo
@ -23,7 +23,7 @@ const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
// @Range: -0.5 1.0 // @Range: -0.5 1.0
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EXPO", 2, AC_CommandModel, expo, 0), AP_GROUPINFO_FLAGS_DEFAULT_POINTER("EXPO", 2, AC_CommandModel, expo, default_expo),
// @Param: RATE_TC // @Param: RATE_TC
// @DisplayName: Rate control input time constant // @DisplayName: Rate control input time constant
@ -33,17 +33,17 @@ const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
// @Increment: 0.01 // @Increment: 0.01
// @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp // @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp
// @User: Standard // @User: Standard
AP_GROUPINFO("RATE_TC", 3, AC_CommandModel, rate_tc, 0.05f), AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE_TC", 3, AC_CommandModel, rate_tc, default_rate_tc),
AP_GROUPEND AP_GROUPEND
}; };
// Constructor // Constructor
AC_CommandModel::AC_CommandModel(float initial_rate, float initial_expo, float initial_tc) AC_CommandModel::AC_CommandModel(float initial_rate, float initial_expo, float initial_tc) :
default_rate(initial_rate),
default_expo(initial_expo),
default_rate_tc(initial_tc)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
rate.set_and_default(initial_rate);
expo.set_and_default(initial_expo);
rate_tc.set_and_default(initial_tc);
} }

4
libraries/AC_AttitudeControl/AC_CommandModel.h
View File

@ -29,5 +29,9 @@ protected:
AP_Float rate; // maximum rate AP_Float rate; // maximum rate
AP_Float expo; // expo shaping AP_Float expo; // expo shaping
private:
const float default_rate_tc;
const float default_rate;
const float default_expo;
}; };