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AC_AttitudeControl: add SITL panic to remind us to implent the quarternion

This commit is contained in:
Iampete1 2021-02-09 01:40:15 +00:00 committed by Randy Mackay
parent a572820dbc
commit 7d5e5f8dd7
3 changed files with 20 additions and 4 deletions
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5
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -212,6 +212,11 @@ void AC_AttitudeControl::reset_rate_controller_I_terms_smoothly()
// Command a Quaternion attitude with feedforward and smoothing
void AC_AttitudeControl::input_quaternion(Quaternion attitude_desired_quat)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// this function is not currently used, this is a reminder that we need to add a 6DoF implementation
AP_HAL::panic("input_quaternion not implemented AC_AttitudeControl_Multi_6DoF");
#endif
// calculate the attitude target euler angles
_attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);

14
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.cpp
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@ -124,6 +124,20 @@ void AC_AttitudeControl_Multi_6DoF::input_angle_step_bf_roll_pitch_yaw(float rol
AC_AttitudeControl_Multi::input_angle_step_bf_roll_pitch_yaw(roll_angle_step_bf_cd, pitch_angle_step_bf_cd, yaw_angle_step_bf_cd);
}
// Command a Quaternion attitude with feedforward and smoothing
// not used anywhere in current code, panic in SITL so this implementaiton is not overlooked
void AC_AttitudeControl_Multi_6DoF::input_quaternion(Quaternion attitude_desired_quat) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("input_quaternion not implemented AC_AttitudeControl_Multi_6DoF");
#endif
_motors.set_lateral(0.0f);
_motors.set_forward(0.0f);
AC_AttitudeControl_Multi::input_quaternion(attitude_desired_quat);
}
AC_AttitudeControl_Multi_6DoF *AC_AttitudeControl_Multi_6DoF::_singleton = nullptr;
#endif // ENABLE_SCRIPTING

5
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h
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@ -20,10 +20,7 @@ public:
// Command a Quaternion attitude with feedforward and smoothing
// not used anywhere in current code, panic so this implementaiton is not overlooked
void input_quaternion(Quaternion attitude_desired_quat) override {
AP_HAL::panic("input_quaternion not implemented AC_AttitudeControl_Multi_6DoF");
}
void input_quaternion(Quaternion attitude_desired_quat) override;
/*
override input functions to attitude controller and convert desired angles into thrust angles and substitute for osset angles
*/