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AC_AttitudeControl: add input_ prefix to input shaper functions

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Jonathan Challinger 2015-11-28 09:56:25 -08:00 committed by Randy Mackay
parent bba360ea2b
commit 5919e95635
4 changed files with 15 additions and 15 deletions
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10
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -91,7 +91,7 @@ void AC_AttitudeControl::shift_ef_yaw_target(float yaw_shift_cd)
_att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + radians(yaw_shift_cd*0.01f)); _att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + radians(yaw_shift_cd*0.01f));
} }
void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain) void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain)
{ {
// Convert from centidegrees on public interface to radians // Convert from centidegrees on public interface to radians
float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f); float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@ -180,7 +180,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float eule
_ang_vel_target_rads += _att_target_ang_vel_rads; _ang_vel_target_rads += _att_target_ang_vel_rads;
} }
void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds) void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds)
{ {
// Convert from centidegrees on public interface to radians // Convert from centidegrees on public interface to radians
float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f); float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@ -235,7 +235,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_
_ang_vel_target_rads += _att_target_ang_vel_rads; _ang_vel_target_rads += _att_target_ang_vel_rads;
} }
void AC_AttitudeControl::euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw) void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw)
{ {
// Convert from centidegrees on public interface to radians // Convert from centidegrees on public interface to radians
float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f); float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@ -274,7 +274,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, f
ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads); ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads);
} }
void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds) void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)
{ {
// Convert from centidegrees on public interface to radians // Convert from centidegrees on public interface to radians
float euler_roll_rate_rads = radians(euler_roll_rate_cds*0.01f); float euler_roll_rate_rads = radians(euler_roll_rate_cds*0.01f);
@ -331,7 +331,7 @@ void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, fl
_ang_vel_target_rads += _att_target_ang_vel_rads; _ang_vel_target_rads += _att_target_ang_vel_rads;
} }
void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
{ {
// Convert from centidegrees on public interface to radians // Convert from centidegrees on public interface to radians
float roll_rate_bf_rads = radians(roll_rate_bf_cds*0.01f); float roll_rate_bf_rads = radians(roll_rate_bf_cds*0.01f);

10
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -114,19 +114,19 @@ public:
void shift_ef_yaw_target(float yaw_shift_cd); void shift_ef_yaw_target(float yaw_shift_cd);
// Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
void euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain); void input_euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain);
// Command an euler roll and pitch angle and an euler yaw rate // Command an euler roll and pitch angle and an euler yaw rate
void euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds); void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds);
// Command an euler roll, pitch and yaw angle // Command an euler roll, pitch and yaw angle
void euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_ef_cd, float euler_yaw_angle_cd, bool slew_yaw); void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_ef_cd, float euler_yaw_angle_cd, bool slew_yaw);
// Command an euler roll, pitch, and yaw rate // Command an euler roll, pitch, and yaw rate
void euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds); void input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds);
// Command an angular velocity // Command an angular velocity
virtual void rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds); virtual void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
// Run angular velocity controller and send outputs to the motors // Run angular velocity controller and send outputs to the motors
virtual void rate_controller_run(); virtual void rate_controller_run();

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -94,11 +94,11 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
} }
// subclass non-passthrough too, for external gyro, no flybar // subclass non-passthrough too, for external gyro, no flybar
void AC_AttitudeControl_Heli::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf) void AC_AttitudeControl_Heli::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
{ {
_passthrough_yaw = yaw_rate_bf; _passthrough_yaw = yaw_rate_bf_cds;
AC_AttitudeControl::rate_bf_roll_pitch_yaw(roll_rate_bf, pitch_rate_bf, yaw_rate_bf); AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
} }
// //

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -49,8 +49,8 @@ public:
// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds); void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds);
// subclass non-passthrough too, for external gyro, no flybar // subclass non-passthrough too, for external gyro, no flybar
void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf) override; void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) override;
// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors // rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
// should be called at 100hz or more // should be called at 100hz or more