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Copter: Add units to the AC_AttitudeControl Library

This commit is contained in:
Leonard Hall 2021-09-06 19:14:18 +09:30 committed by Randy Mackay
parent ad278779e3
commit f3dc47ce3d
16 changed files with 26 additions and 26 deletions
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4
ArduCopter/mode.cpp
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@ -623,7 +623,7 @@ void Mode::land_run_horizontal_control()
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {
@ -737,7 +737,7 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
float target_roll = 0.0f;
float target_pitch = 0.0f;
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {

8
ArduCopter/mode_acro.cpp
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@ -159,15 +159,15 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){
rate_ef_level.x += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
rate_ef_level.x += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}else if (roll_angle < -angle_max) {
rate_ef_level.x += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
rate_ef_level.x += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}
if (pitch_angle > angle_max){
rate_ef_level.y += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
rate_ef_level.y += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}else if (pitch_angle < -angle_max) {
rate_ef_level.y += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
rate_ef_level.y += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}
}

2
ArduCopter/mode_althold.cpp
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@ -33,7 +33,7 @@ void ModeAltHold::run()
// get pilot desired lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

2
ArduCopter/mode_autotune.cpp
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@ -84,7 +84,7 @@ float AutoTune::get_pilot_desired_climb_rate_cms(void) const
void AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
{
copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
copter.attitude_control->get_althold_lean_angle_max());
copter.attitude_control->get_althold_lean_angle_max_cd());
yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
}

2
ArduCopter/mode_flowhold.cpp
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@ -315,7 +315,7 @@ void ModeFlowHold::run()
int16_t roll_in = copter.channel_roll->get_control_in();
int16_t pitch_in = copter.channel_pitch->get_control_in();
float angle_max = copter.aparm.angle_max;
get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y, angle_max, attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(bf_angles.x, bf_angles.y, angle_max, attitude_control->get_althold_lean_angle_max_cd());
if (quality_filtered >= flow_min_quality &&
AP_HAL::millis() - copter.arm_time_ms > 3000) {

2
ArduCopter/mode_guided.cpp
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@ -806,7 +806,7 @@ void ModeGuided::angle_control_run()
float roll_in = guided_angle_state.roll_cd;
float pitch_in = guided_angle_state.pitch_cd;
float total_in = norm(roll_in, pitch_in);
float angle_max = MIN(attitude_control->get_althold_lean_angle_max(), copter.aparm.angle_max);
float angle_max = MIN(attitude_control->get_althold_lean_angle_max_cd(), copter.aparm.angle_max);
if (total_in > angle_max) {
float ratio = angle_max / total_in;
roll_in *= ratio;

2
ArduCopter/mode_land.cpp
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@ -110,7 +110,7 @@ void ModeLand::nogps_run()
update_simple_mode();
// get pilot desired lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
}
// get pilot's desired yaw rate

4
ArduCopter/mode_loiter.cpp
View File

@ -15,7 +15,7 @@ bool ModeLoiter::init(bool ignore_checks)
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
@ -90,7 +90,7 @@ void ModeLoiter::run()
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);

2
ArduCopter/mode_poshold.cpp
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@ -80,7 +80,7 @@ void ModePosHold::run()
// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

2
ArduCopter/mode_rtl.cpp
View File

@ -319,7 +319,7 @@ void ModeRTL::descent_run()
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {

8
ArduCopter/mode_sport.cpp
View File

@ -50,15 +50,15 @@ void ModeSport::run()
const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){
target_roll_rate += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
target_roll_rate += sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}else if (roll_angle < -angle_max) {
target_roll_rate += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
target_roll_rate += sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max_cdss(), G_Dt);
}
if (pitch_angle > angle_max){
target_pitch_rate += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
target_pitch_rate += sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}else if (pitch_angle < -angle_max) {
target_pitch_rate += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
target_pitch_rate += sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max_cdss(), G_Dt);
}
// get pilot's desired yaw rate

4
ArduCopter/mode_systemid.cpp
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@ -185,9 +185,9 @@ void ModeSystemId::run()
gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: Landed");
break;
}
if (attitude_control->lean_angle()*100 > attitude_control->lean_angle_max()) {
if (attitude_control->lean_angle_deg()*100 > attitude_control->lean_angle_max_cd()) {
systemid_state = SystemIDModeState::SYSTEMID_STATE_STOPPED;
gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: lean=%f max=%f", (double)attitude_control->lean_angle(), (double)attitude_control->lean_angle_max());
gcs().send_text(MAV_SEVERITY_INFO, "SystemID Stopped: lean=%f max=%f", (double)attitude_control->lean_angle_deg(), (double)attitude_control->lean_angle_max_cd());
break;
}
if (waveform_time > SYSTEM_ID_DELAY + time_fade_in + time_const_freq + time_record + time_fade_out) {

4
ArduCopter/mode_zigzag.cpp
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@ -73,7 +73,7 @@ bool ModeZigZag::init(bool ignore_checks)
// convert pilot input to lean angles
float target_roll, target_pitch;
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
@ -300,7 +300,7 @@ void ModeZigZag::manual_control()
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
// process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);

2
ArduPlane/mode_qloiter.cpp
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@ -63,7 +63,7 @@ void ModeQLoiter::run()
// process pilot's roll and pitch input
float target_roll_cd, target_pitch_cd;
quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
quadplane.get_pilot_desired_lean_angles(target_roll_cd, target_pitch_cd, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max_cd());
loiter_nav->set_pilot_desired_acceleration(target_roll_cd, target_pitch_cd);
// run loiter controller

2
ArduSub/control_althold.cpp
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@ -67,7 +67,7 @@ void Sub::althold_run()
return;
}
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max_cd());
// get pilot's desired yaw rate
float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

2
ArduSub/control_guided.cpp
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@ -470,7 +470,7 @@ void Sub::guided_angle_control_run()
float roll_in = guided_angle_state.roll_cd;
float pitch_in = guided_angle_state.pitch_cd;
float total_in = norm(roll_in, pitch_in);
float angle_max = MIN(attitude_control.get_althold_lean_angle_max(), aparm.angle_max);
float angle_max = MIN(attitude_control.get_althold_lean_angle_max_cd(), aparm.angle_max);
if (total_in > angle_max) {
float ratio = angle_max / total_in;
roll_in *= ratio;