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Copter: call renamed functions in AC_AttitudeControl

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This commit is contained in:
Jonathan Challinger 2015-12-08 13:40:04 -08:00 committed by Randy Mackay
parent e8345fbaab
commit 709fcf37cc
6 changed files with 8 additions and 8 deletions
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2
ArduCopter/GCS_Mavlink.cpp
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@ -296,7 +296,7 @@ void NOINLINE Copter::send_location(mavlink_channel_t chan)
void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
{
const Vector3f &targets = attitude_control.angle_ef_targets();
const Vector3f &targets = attitude_control.get_att_target_euler_cd();
mavlink_msg_nav_controller_output_send(
chan,
targets.x / 1.0e2f,

2
ArduCopter/Log.cpp
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@ -354,7 +354,7 @@ void Copter::Log_Write_Performance()
// Write an attitude packet
void Copter::Log_Write_Attitude()
{
Vector3f targets = attitude_control.angle_ef_targets();
Vector3f targets = attitude_control.get_att_target_euler_cd();
targets.z = wrap_360_cd_float(targets.z);
DataFlash.Log_Write_Attitude(ahrs, targets);

2
ArduCopter/control_acro.cpp
View File

@ -125,7 +125,7 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
}
// convert earth-frame level rates to body-frame level rates
attitude_control.euler_rate_to_ang_vel(attitude_control.angle_ef_targets()*radians(0.01f), rate_ef_level, rate_bf_level);
attitude_control.euler_rate_to_ang_vel(attitude_control.get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {

2
ArduCopter/control_auto.cpp
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@ -569,7 +569,7 @@ void Copter::set_auto_yaw_mode(uint8_t yaw_mode)
void Copter::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle)
{
// get current yaw target
int32_t curr_yaw_target = attitude_control.angle_ef_targets().z;
int32_t curr_yaw_target = attitude_control.get_att_target_euler_cd().z;
// get final angle, 1 = Relative, 0 = Absolute
if (relative_angle == 0) {

4
ArduCopter/crash_check.cpp
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@ -33,7 +33,7 @@ void Copter::crash_check()
}
// check for angle error over 30 degrees
const Vector3f angle_error = attitude_control.angle_bf_error();
const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
if (pythagorous2(angle_error.x, angle_error.y) <= CRASH_CHECK_ANGLE_DEVIATION_CD) {
crash_counter = 0;
return;
@ -99,7 +99,7 @@ void Copter::parachute_check()
}
// check for angle error over 30 degrees
const Vector3f angle_error = attitude_control.angle_bf_error();
const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
if (pythagorous2(angle_error.x, angle_error.y) <= CRASH_CHECK_ANGLE_DEVIATION_CD) {
control_loss_count = 0;
return;

4
ArduCopter/land_detector.cpp
View File

@ -131,11 +131,11 @@ void Copter::update_throttle_thr_mix()
// autopilot controlled throttle
// check for aggressive flight requests - requested roll or pitch angle below 15 degrees
const Vector3f angle_target = attitude_control.angle_ef_targets();
const Vector3f angle_target = attitude_control.get_att_target_euler_cd();
bool large_angle_request = (pythagorous2(angle_target.x, angle_target.y) > 1500.0f);
// check for large external disturbance - angle error over 30 degrees
const Vector3f angle_error = attitude_control.angle_bf_error();
const Vector3f angle_error = attitude_control.get_att_error_rot_vec_cd();
bool large_angle_error = (pythagorous2(angle_error.x, angle_error.y) > 3000.0f);
// check for large acceleration - falling or high turbulence