From 9d8b0f3d58d181cb89fbcc693f11e7fc01e925a1 Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Wed, 25 Nov 2015 00:05:04 -0800 Subject: [PATCH] Copter: call renamed functions in AC_AttitudeControl --- ArduCopter/Attitude.cpp | 2 +- ArduCopter/control_althold.cpp | 8 ++++---- ArduCopter/control_auto.cpp | 26 +++++++++++++------------- ArduCopter/control_autotune.cpp | 14 +++++++------- ArduCopter/control_brake.cpp | 4 ++-- ArduCopter/control_circle.cpp | 6 +++--- ArduCopter/control_drift.cpp | 2 +- ArduCopter/control_flip.cpp | 2 +- ArduCopter/control_guided.cpp | 26 +++++++++++++------------- ArduCopter/control_land.cpp | 8 ++++---- ArduCopter/control_loiter.cpp | 8 ++++---- ArduCopter/control_poshold.cpp | 2 +- ArduCopter/control_rtl.cpp | 20 ++++++++++---------- ArduCopter/control_sport.cpp | 2 +- ArduCopter/control_stabilize.cpp | 2 +- ArduCopter/heli_control_stabilize.cpp | 2 +- 16 files changed, 67 insertions(+), 67 deletions(-) diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp index 4e95097bcb..452f8f9258 100644 --- a/ArduCopter/Attitude.cpp +++ b/ArduCopter/Attitude.cpp @@ -2,7 +2,7 @@ #include "Copter.h" -// get_smoothing_gain - returns smoothing gain to be passed into attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth +// get_smoothing_gain - returns smoothing gain to be passed into attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth // result is a number from 2 to 12 with 2 being very sluggish and 12 being very crisp float Copter::get_smoothing_gain() { diff --git a/ArduCopter/control_althold.cpp b/ArduCopter/control_althold.cpp index 3c51d3f1df..c48f304942 100644 --- a/ArduCopter/control_althold.cpp +++ b/ArduCopter/control_althold.cpp @@ -83,7 +83,7 @@ void Copter::althold_run() #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw attitude_control.set_yaw_target_to_current_heading(); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // Multicopter do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -122,7 +122,7 @@ void Copter::althold_run() takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // call position controller pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); @@ -135,7 +135,7 @@ void Copter::althold_run() #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw attitude_control.set_yaw_target_to_current_heading(); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt); #else // Multicopter do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(channel_throttle->control_in),true,g.throttle_filt); @@ -145,7 +145,7 @@ void Copter::althold_run() case AltHold_Flying: // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // call throttle controller if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { diff --git a/ArduCopter/control_auto.cpp b/ArduCopter/control_auto.cpp index 0df9f1bdc8..3cc87aedee 100644 --- a/ArduCopter/control_auto.cpp +++ b/ArduCopter/control_auto.cpp @@ -117,7 +117,7 @@ void Copter::auto_takeoff_run() wp_nav.shift_wp_origin_to_current_pos(); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed // reset attitude control targets @@ -142,7 +142,7 @@ void Copter::auto_takeoff_run() pos_control.update_z_controller(); // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); } // auto_wp_start - initialises waypoint controller to implement flying to a particular destination @@ -170,7 +170,7 @@ void Copter::auto_wp_run() // (of course it would be better if people just used take-off) #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -199,10 +199,10 @@ void Copter::auto_wp_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); + attitude_control.euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); } } @@ -234,7 +234,7 @@ void Copter::auto_spline_run() // (of course it would be better if people just used take-off) #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -263,10 +263,10 @@ void Copter::auto_spline_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true); + attitude_control.euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true); } } @@ -307,7 +307,7 @@ void Copter::auto_land_run() if(!ap.auto_armed || ap.land_complete) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -352,7 +352,7 @@ void Copter::auto_land_run() desired_climb_rate = cmb_rate; // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); } // auto_rtl_start - initialises RTL in AUTO flight mode @@ -420,7 +420,7 @@ void Copter::auto_circle_run() pos_control.update_z_controller(); // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true); + attitude_control.euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true); } #if NAV_GUIDED == ENABLED @@ -479,7 +479,7 @@ void Copter::auto_loiter_run() if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -496,7 +496,7 @@ void Copter::auto_loiter_run() // run waypoint and z-axis postion controller wp_nav.update_wpnav(); pos_control.update_z_controller(); - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); } // get_default_auto_yaw_mode - returns auto_yaw_mode based on WP_YAW_BEHAVIOR parameter diff --git a/ArduCopter/control_autotune.cpp b/ArduCopter/control_autotune.cpp index c2281d8b94..9a83432e9b 100644 --- a/ArduCopter/control_autotune.cpp +++ b/ArduCopter/control_autotune.cpp @@ -323,7 +323,7 @@ void Copter::autotune_run() // if pilot override call attitude controller if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) { - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); }else{ // somehow get attitude requests from autotuning autotune_attitude_control(); @@ -351,7 +351,7 @@ void Copter::autotune_attitude_control() attitude_control.limit_angle_to_rate_request(true); // hold level attitude - attitude_control.angle_ef_roll_pitch_yaw( 0.0f, 0.0f, autotune_desired_yaw, true); + attitude_control.euler_angle_roll_pitch_yaw( 0.0f, 0.0f, autotune_desired_yaw, true); // hold the copter level for 0.5 seconds before we begin a twitch // reset counter if we are no longer level @@ -430,22 +430,22 @@ void Copter::autotune_attitude_control() switch (autotune_state.axis) { case AUTOTUNE_AXIS_ROLL: // request roll to 20deg - attitude_control.angle_ef_roll_pitch_rate_ef_yaw( direction_sign * autotune_target_angle + autotune_start_angle, 0.0f, 0.0f); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw( direction_sign * autotune_target_angle + autotune_start_angle, 0.0f, 0.0f); break; case AUTOTUNE_AXIS_PITCH: // request pitch to 20deg - attitude_control.angle_ef_roll_pitch_rate_ef_yaw( 0.0f, direction_sign * autotune_target_angle + autotune_start_angle, 0.0f); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw( 0.0f, direction_sign * autotune_target_angle + autotune_start_angle, 0.0f); break; case AUTOTUNE_AXIS_YAW: // request pitch to 20deg - attitude_control.angle_ef_roll_pitch_yaw( 0.0f, 0.0f, wrap_180_cd_float(direction_sign * autotune_target_angle + autotune_start_angle), false); + attitude_control.euler_angle_roll_pitch_yaw( 0.0f, 0.0f, wrap_180_cd_float(direction_sign * autotune_target_angle + autotune_start_angle), false); break; } } else { // Testing rate P and D gains so will set body-frame rate targets. // Rate controller will use existing body-frame rates and convert to motor outputs // for all axes except the one we override here. - attitude_control.angle_ef_roll_pitch_rate_ef_yaw( 0.0f, 0.0f, 0.0f); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw( 0.0f, 0.0f, 0.0f); switch (autotune_state.axis) { case AUTOTUNE_AXIS_ROLL: // override body-frame roll rate @@ -721,7 +721,7 @@ void Copter::autotune_attitude_control() autotune_state.positive_direction = !autotune_state.positive_direction; if (autotune_state.axis == AUTOTUNE_AXIS_YAW) { - attitude_control.angle_ef_roll_pitch_yaw( 0.0f, 0.0f, ahrs.yaw_sensor, false); + attitude_control.euler_angle_roll_pitch_yaw( 0.0f, 0.0f, ahrs.yaw_sensor, false); } // set gains to their intra-test values (which are very close to the original gains) diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp index 16e734c792..10fc5e05a1 100644 --- a/ArduCopter/control_brake.cpp +++ b/ArduCopter/control_brake.cpp @@ -40,7 +40,7 @@ void Copter::brake_run() wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -63,7 +63,7 @@ void Copter::brake_run() wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f); // body-frame rate controller is run directly from 100hz loop diff --git a/ArduCopter/control_circle.cpp b/ArduCopter/control_circle.cpp index 6481fe5e00..6d9df0af73 100644 --- a/ArduCopter/control_circle.cpp +++ b/ArduCopter/control_circle.cpp @@ -46,7 +46,7 @@ void Copter::circle_run() // To-Do: add some initialisation of position controllers #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -80,9 +80,9 @@ void Copter::circle_run() // call attitude controller if (circle_pilot_yaw_override) { - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate); }else{ - attitude_control.angle_ef_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true); + attitude_control.euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true); } // run altitude controller diff --git a/ArduCopter/control_drift.cpp b/ArduCopter/control_drift.cpp index a6d9b0a8ce..f47efcecc9 100644 --- a/ArduCopter/control_drift.cpp +++ b/ArduCopter/control_drift.cpp @@ -94,7 +94,7 @@ void Copter::drift_run() } // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // output pilot's throttle with angle boost attitude_control.set_throttle_out(get_throttle_assist(vel.z, pilot_throttle_scaled), true, g.throttle_filt); diff --git a/ArduCopter/control_flip.cpp b/ArduCopter/control_flip.cpp index c196380a50..caf56934e8 100644 --- a/ArduCopter/control_flip.cpp +++ b/ArduCopter/control_flip.cpp @@ -183,7 +183,7 @@ void Copter::flip_run() case Flip_Recover: // use originally captured earth-frame angle targets to recover - attitude_control.angle_ef_roll_pitch_yaw(flip_orig_attitude.x, flip_orig_attitude.y, flip_orig_attitude.z, false); + attitude_control.euler_angle_roll_pitch_yaw(flip_orig_attitude.x, flip_orig_attitude.y, flip_orig_attitude.z, false); // increase throttle to gain any lost altitude throttle_out += FLIP_THR_INC; diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp index c4bcc1ba3e..35eb727910 100644 --- a/ArduCopter/control_guided.cpp +++ b/ArduCopter/control_guided.cpp @@ -254,7 +254,7 @@ void Copter::guided_takeoff_run() if (!ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -276,7 +276,7 @@ void Copter::guided_takeoff_run() pos_control.update_z_controller(); // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); } // guided_pos_control_run - runs the guided position controller @@ -287,7 +287,7 @@ void Copter::guided_pos_control_run() if (!ap.auto_armed || !motors.get_interlock() || ap.land_complete) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -314,10 +314,10 @@ void Copter::guided_pos_control_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true); + attitude_control.euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true); } } @@ -331,7 +331,7 @@ void Copter::guided_vel_control_run() pos_control.init_vel_controller_xyz(); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -361,10 +361,10 @@ void Copter::guided_vel_control_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true); + attitude_control.euler_angle_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true); } } @@ -379,7 +379,7 @@ void Copter::guided_posvel_control_run() pos_control.set_desired_velocity(Vector3f(0,0,0)); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -430,10 +430,10 @@ void Copter::guided_posvel_control_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(pos_control.get_roll(), pos_control.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true); + attitude_control.euler_angle_roll_pitch_yaw(pos_control.get_roll(), pos_control.get_pitch(), get_auto_heading(), true); } } @@ -446,7 +446,7 @@ void Copter::guided_angle_control_run() #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller attitude_control.set_yaw_target_to_current_heading(); - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0.0f, 0.0f, 0.0f, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0.0f, 0.0f, 0.0f, get_smoothing_gain()); attitude_control.set_throttle_out(0.0f,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt); @@ -481,7 +481,7 @@ void Copter::guided_angle_control_run() } // call attitude controller - attitude_control.angle_ef_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true); + attitude_control.euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true); // call position controller pos_control.set_alt_target_from_climb_rate_ff(climb_rate_cms, G_Dt, false); diff --git a/ArduCopter/control_land.cpp b/ArduCopter/control_land.cpp index 5a459e0b23..26cd9b8b1d 100644 --- a/ArduCopter/control_land.cpp +++ b/ArduCopter/control_land.cpp @@ -59,7 +59,7 @@ void Copter::land_gps_run() if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -119,7 +119,7 @@ void Copter::land_gps_run() wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); // pause 4 seconds before beginning land descent float cmb_rate; @@ -164,7 +164,7 @@ void Copter::land_nogps_run() if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -185,7 +185,7 @@ void Copter::land_nogps_run() } // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // pause 4 seconds before beginning land descent float cmb_rate; diff --git a/ArduCopter/control_loiter.cpp b/ArduCopter/control_loiter.cpp index fbef7ccf16..4ab007d37d 100644 --- a/ArduCopter/control_loiter.cpp +++ b/ArduCopter/control_loiter.cpp @@ -93,7 +93,7 @@ void Copter::loiter_run() wp_nav.init_loiter_target(); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -139,7 +139,7 @@ void Copter::loiter_run() wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); // update altitude target and call position controller pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false); @@ -152,7 +152,7 @@ void Copter::loiter_run() wp_nav.init_loiter_target(); #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(get_throttle_pre_takeoff(channel_throttle->control_in),false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed // move throttle to between minimum and non-takeoff-throttle to keep us on the ground @@ -167,7 +167,7 @@ void Copter::loiter_run() wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); // run altitude controller if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { diff --git a/ArduCopter/control_poshold.cpp b/ArduCopter/control_poshold.cpp index 9a794eda4e..e59131e648 100644 --- a/ArduCopter/control_poshold.cpp +++ b/ArduCopter/control_poshold.cpp @@ -507,7 +507,7 @@ void Copter::poshold_run() poshold.pitch = constrain_int16(poshold.pitch, -aparm.angle_max, aparm.angle_max); // update attitude controller targets - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(poshold.roll, poshold.pitch, target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(poshold.roll, poshold.pitch, target_yaw_rate); // throttle control if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { diff --git a/ArduCopter/control_rtl.cpp b/ArduCopter/control_rtl.cpp index 6ebb4c7096..5e11386cc0 100644 --- a/ArduCopter/control_rtl.cpp +++ b/ArduCopter/control_rtl.cpp @@ -143,7 +143,7 @@ void Copter::rtl_climb_return_run() if(!ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed // reset attitude control targets @@ -172,10 +172,10 @@ void Copter::rtl_climb_return_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); + attitude_control.euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); } // check if we've completed this stage of RTL @@ -205,7 +205,7 @@ void Copter::rtl_loiterathome_run() if(!ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed // reset attitude control targets @@ -234,10 +234,10 @@ void Copter::rtl_loiterathome_run() // call attitude controller if (auto_yaw_mode == AUTO_YAW_HOLD) { // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); }else{ // roll, pitch from waypoint controller, yaw heading from auto_heading() - attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); + attitude_control.euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true); } // check if we've completed this stage of RTL @@ -281,7 +281,7 @@ void Copter::rtl_descent_run() if(!ap.auto_armed || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -317,7 +317,7 @@ void Copter::rtl_descent_run() pos_control.update_z_controller(); // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); // check if we've reached within 20cm of final altitude rtl_state_complete = fabsf(pv_alt_above_origin(g.rtl_alt_final) - inertial_nav.get_altitude()) < 20.0f; @@ -349,7 +349,7 @@ void Copter::rtl_land_run() if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) { #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.set_throttle_out(0,false,g.throttle_filt); #else // multicopters do not stabilize roll/pitch/yaw when disarmed attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); @@ -409,7 +409,7 @@ void Copter::rtl_land_run() desired_climb_rate = cmb_rate; // roll & pitch from waypoint controller, yaw rate from pilot - attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); // check if we've completed this stage of RTL rtl_state_complete = ap.land_complete; diff --git a/ArduCopter/control_sport.cpp b/ArduCopter/control_sport.cpp index 7d96f60118..80eadce037 100644 --- a/ArduCopter/control_sport.cpp +++ b/ArduCopter/control_sport.cpp @@ -97,7 +97,7 @@ void Copter::sport_run() }else{ // call attitude controller - attitude_control.rate_ef_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate); + attitude_control.euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate); // call throttle controller if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { diff --git a/ArduCopter/control_stabilize.cpp b/ArduCopter/control_stabilize.cpp index 20232b44d5..8d7d2aa8b4 100644 --- a/ArduCopter/control_stabilize.cpp +++ b/ArduCopter/control_stabilize.cpp @@ -51,7 +51,7 @@ void Copter::stabilize_run() pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // body-frame rate controller is run directly from 100hz loop diff --git a/ArduCopter/heli_control_stabilize.cpp b/ArduCopter/heli_control_stabilize.cpp index fc502cd06a..ba146b705c 100644 --- a/ArduCopter/heli_control_stabilize.cpp +++ b/ArduCopter/heli_control_stabilize.cpp @@ -63,7 +63,7 @@ void Copter::heli_stabilize_run() pilot_throttle_scaled = input_manager.get_pilot_desired_collective(channel_throttle->control_in); // call attitude controller - attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); + attitude_control.euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); // output pilot's throttle - note that TradHeli does not used angle-boost attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);