Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 01:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: store acro passthrough values as float

Browse Source 
The function which sets these has floats, and the function we send them
to uses floats... so store them as floats...
This commit is contained in:
Peter Barker 2019-04-04 15:46:06 +11:00 committed by Randy Mackay
parent 601504e685
commit 70aed0f29c
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
View File

@ -36,7 +36,6 @@ public:
AP_MotorsHeli& motors, AP_MotorsHeli& motors,
float dt) : float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt), AC_AttitudeControl(ahrs, aparm, motors, dt),
_passthrough_roll(0), _passthrough_pitch(0), _passthrough_yaw(0),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF), _pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF), _pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF), _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF),
@ -136,11 +135,11 @@ private:
// //
// pass through for roll and pitch // pass through for roll and pitch
int16_t _passthrough_roll; float _passthrough_roll;
int16_t _passthrough_pitch; float _passthrough_pitch;
// pass through for yaw if tail_passthrough is set // pass through for yaw if tail_passthrough is set
int16_t _passthrough_yaw; float _passthrough_yaw;
// get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover // get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
float get_roll_trim_rad() override { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));} float get_roll_trim_rad() override { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));}