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Copter: Support changing update period

This commit is contained in:
Leonard Hall 2022-12-04 20:39:51 +10:30 committed by Andrew Tridgell
parent f0a9b96eca
commit 67043eec14
3 changed files with 22 additions and 5 deletions
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17
ArduCopter/Attitude.cpp
View File

@ -1,5 +1,22 @@
#include "Copter.h"
/*************************************************************
* Attitude Rate controllers and timing
****************************************************************/
// update rate controllers and output to roll, pitch and yaw actuators
// called at 400hz by default
void Copter::run_rate_controller()
{
// set attitude and position controller loop time
const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
attitude_control->set_dt(last_loop_time_s);
pos_control->set_dt(last_loop_time_s);
// run low level rate controllers that only require IMU data
attitude_control->rate_controller_run();
}
/*************************************************************
* throttle control
****************************************************************/

2
ArduCopter/Copter.h
View File

@ -696,7 +696,7 @@ private:
void set_accel_throttle_I_from_pilot_throttle();
void rotate_body_frame_to_NE(float &x, float &y);
uint16_t get_pilot_speed_dn() const;
void run_rate_controller() { attitude_control->rate_controller_run(); }
void run_rate_controller();
#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
void run_custom_controller() { custom_control.update(); }

8
ArduCopter/system.cpp
View File

@ -448,15 +448,15 @@ void Copter::allocate_motors(void)
#if FRAME_CONFIG != HELI_FRAME
if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
#if AP_SCRIPTING_ENABLED
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
#endif // AP_SCRIPTING_ENABLED
} else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi::var_info;
}
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
@ -464,7 +464,7 @@ void Copter::allocate_motors(void)
}
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control, scheduler.get_loop_period_s());
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (pos_control == nullptr) {
AP_BoardConfig::allocation_error("PosControl");
}