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AC_AttControl: rename init_targets to relax_bf_rate_controller

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This commit is contained in:
Randy Mackay 2014-06-06 12:03:06 +09:00
parent 1bdde31f6b
commit 5209598459
2 changed files with 5 additions and 5 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -69,8 +69,8 @@ void AC_AttitudeControl::set_dt(float delta_sec)
_pid_rate_yaw.set_d_lpf_alpha(AC_ATTITUDE_RATE_Y_PID_DTERM_FILTER, _dt);
}
// init_targets - resets target angles to current angles
void AC_AttitudeControl::init_targets()
// relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output
void AC_AttitudeControl::relax_bf_rate_controller()
{
// ensure zero error in body frame rate controllers
const Vector3f& gyro = _ins.get_gyro();

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -75,8 +75,8 @@ public:
// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
void set_dt(float delta_sec);
// init_targets - resets target angles to current angles
void init_targets();
// relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output
void relax_bf_rate_controller();
//
// methods to be called by upper controllers to request and implement a desired attitude
@ -233,7 +233,7 @@ protected:
// To-Do: make rate targets a typedef instead of Vector3f?
float _dt; // time delta in seconds
Vector3f _angle_ef_target; // angle controller earth-frame targets
Vector3f _angle_bf_error; // angle controller earth-frame targets
Vector3f _angle_bf_error; // angle controller body-frame error
Vector3f _rate_bf_target; // rate controller body-frame targets
Vector3f _rate_ef_desired; // earth-frame feed forward rates
Vector3f _rate_bf_desired; // body-frame feed forward rates