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AC_AttitudeControl: add accessors to set rate limit

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bnsgeyer 2024-05-19 22:37:25 -04:00 committed by Bill Geyer
parent b13efc86af
commit c4f4067fd5
1 changed files with 15 additions and 0 deletions
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15
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -120,12 +120,27 @@ public:
// get the roll angular velocity limit in radians/s
float get_ang_vel_roll_max_rads() const { return radians(_ang_vel_roll_max); }
// get the roll angular velocity limit in degrees/s
float get_ang_vel_roll_max_degs() const { return _ang_vel_roll_max; }
// set the roll angular velocity limit in degrees/s
void set_ang_vel_roll_max_degs(float vel_roll_max) { _ang_vel_roll_max.set(vel_roll_max); }
// get the pitch angular velocity limit in radians/s
float get_ang_vel_pitch_max_rads() const { return radians(_ang_vel_pitch_max); }
// get the pitch angular velocity limit in degrees/s
float get_ang_vel_pitch_max_degs() const { return _ang_vel_pitch_max; }
// set the pitch angular velocity limit in degrees/s
void set_ang_vel_pitch_max_degs(float vel_pitch_max) { _ang_vel_pitch_max.set(vel_pitch_max); }
// get the yaw angular velocity limit in radians/s
float get_ang_vel_yaw_max_rads() const { return radians(_ang_vel_yaw_max); }
// get the yaw angular velocity limit in degrees/s
float get_ang_vel_yaw_max_degs() const { return _ang_vel_yaw_max; }
// set the yaw angular velocity limit in degrees/s
void set_ang_vel_yaw_max_degs(float vel_yaw_max) { _ang_vel_yaw_max.set(vel_yaw_max); }
// get the slew yaw rate limit in deg/s
float get_slew_yaw_max_degs() const;