mirror of https://github.com/ArduPilot/ardupilot
AC_AttitudeControl: fixed external tail gyro with no flybar
this sets up the tail pass-through for acro mode
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@ -136,7 +136,7 @@ public:
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void rate_ef_roll_pitch_yaw(float roll_rate_ef, float pitch_rate_ef, float yaw_rate_ef);
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// rate_bf_roll_pitch_yaw - attempts to maintain a roll, pitch and yaw rate (all body frame)
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void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf);
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virtual void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf);
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//
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
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@ -86,6 +86,14 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
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_rate_bf_target.z += _rate_bf_desired.z;
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}
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// subclass non-passthrough too, for external gyro, no flybar
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void AC_AttitudeControl_Heli::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf)
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{
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_passthrough_yaw = yaw_rate_bf;
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AC_AttitudeControl::rate_bf_roll_pitch_yaw(roll_rate_bf, pitch_rate_bf, yaw_rate_bf);
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}
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//
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// rate controller (body-frame) methods
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//
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@ -49,6 +49,9 @@ public:
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// passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
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void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf);
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// subclass non-passthrough too, for external gyro, no flybar
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void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf) override;
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// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
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// should be called at 100hz or more
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virtual void rate_controller_run();
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