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AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument

This commit is contained in:
Andy Piper 2024-09-24 10:27:56 +01:00 committed by Peter Barker
parent 15de449d12
commit eeda86ccb4
3 changed files with 4 additions and 4 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -245,7 +245,7 @@ public:
virtual void rate_controller_target_reset() {} virtual void rate_controller_target_reset() {}
// optional variant to allow running with different dt // optional variant to allow running with different dt
virtual void rate_controller_run_dt(float dt, const Vector3f& gyro) { AP_BoardConfig::config_error("rate_controller_run_dt() must be defined"); }; virtual void rate_controller_run_dt(const Vector3f& gyro, float dt) { AP_BoardConfig::config_error("rate_controller_run_dt() must be defined"); };
// Convert a 321-intrinsic euler angle derivative to an angular velocity vector // Convert a 321-intrinsic euler angle derivative to an angular velocity vector
void euler_rate_to_ang_vel(const Quaternion& att, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads); void euler_rate_to_ang_vel(const Quaternion& att, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads);

4
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -439,7 +439,7 @@ void AC_AttitudeControl_Multi::update_throttle_rpy_mix()
_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX); _throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX);
} }
void AC_AttitudeControl_Multi::rate_controller_run_dt(float dt, const Vector3f& gyro) void AC_AttitudeControl_Multi::rate_controller_run_dt(const Vector3f& gyro, float dt)
{ {
// take a copy of the target so that it can't be changed from under us. // take a copy of the target so that it can't be changed from under us.
Vector3f ang_vel_body = _ang_vel_body; Vector3f ang_vel_body = _ang_vel_body;
@ -481,7 +481,7 @@ void AC_AttitudeControl_Multi::rate_controller_target_reset()
void AC_AttitudeControl_Multi::rate_controller_run() void AC_AttitudeControl_Multi::rate_controller_run()
{ {
Vector3f gyro_latest = _ahrs.get_gyro_latest(); Vector3f gyro_latest = _ahrs.get_gyro_latest();
rate_controller_run_dt(_dt, gyro_latest); rate_controller_run_dt(gyro_latest, _dt);
} }
// sanity check parameters. should be called once before takeoff // sanity check parameters. should be called once before takeoff

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
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@ -76,7 +76,7 @@ public:
bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f * _thr_mix_min); } bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f * _thr_mix_min); }
// run lowest level body-frame rate controller and send outputs to the motors // run lowest level body-frame rate controller and send outputs to the motors
void rate_controller_run_dt(float dt, const Vector3f& gyro) override; void rate_controller_run_dt(const Vector3f& gyro, float dt) override;
void rate_controller_target_reset() override; void rate_controller_target_reset() override;
void rate_controller_run() override; void rate_controller_run() override;