mirror of https://github.com/ArduPilot/ardupilot
AC_AttitudeControl: added get_rpy_srate()
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6d264497e9
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@ -11,6 +11,8 @@ extern const AP_HAL::HAL& hal;
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# define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT 0.15f // Medium
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#endif
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AC_AttitudeControl *AC_AttitudeControl::_singleton;
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// table of user settable parameters
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const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
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@ -1129,3 +1131,14 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
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}
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return true;
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}
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/*
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get the slew rate for roll, pitch and yaw, for oscillation
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detection in lua scripts
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*/
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void AC_AttitudeControl::get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate)
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{
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roll_srate = get_rate_roll_pid().get_pid_info().slew_rate;
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pitch_srate = get_rate_pitch_pid().get_pid_info().slew_rate;
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yaw_srate = get_rate_yaw_pid().get_pid_info().slew_rate;
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}
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@ -64,9 +64,14 @@ public:
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_aparm(aparm),
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_motors(motors)
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{
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_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
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}
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static AC_AttitudeControl *get_singleton(void) {
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return _singleton;
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}
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// Empty destructor to suppress compiler warning
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virtual ~AC_AttitudeControl() {}
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@ -362,6 +367,9 @@ public:
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// enable inverted flight on backends that support it
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virtual void set_inverted_flight(bool inverted) {}
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// get the slew rate value for roll, pitch and yaw, for oscillation detection in lua scripts
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void get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate);
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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@ -483,6 +491,8 @@ protected:
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const AP_Vehicle::MultiCopter &_aparm;
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AP_Motors& _motors;
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static AC_AttitudeControl *_singleton;
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protected:
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/*
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state of control monitoring
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