AC_AttitudeControl: added get_rpy_PDmod method

used for lua scripts to do VTOL tuning

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -11,6 +11,8 @@ extern const AP_HAL::HAL& hal;
  # define AC_ATTITUDE_CONTROL_INPUT_TC_DEFAULT  0.15f   // Medium
 #endif
 
+AC_AttitudeControl *AC_AttitudeControl::_singleton;
+
 // table of user settable parameters
 const AP_Param::GroupInfo AC_AttitudeControl::var_info[] = {
 
@@ -1129,3 +1131,14 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
     }
     return true;
 }
+
+/*
+  get the PDmod value for roll, pitch and yaw, for oscillation
+   detection in lua scripts
+*/
+void AC_AttitudeControl::get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod)
+{
+    roll_dmod = get_rate_roll_pid().get_pid_info().Dmod;
+    pitch_dmod = get_rate_pitch_pid().get_pid_info().Dmod;
+    yaw_dmod = get_rate_yaw_pid().get_pid_info().Dmod;
+}

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -64,9 +64,14 @@ public:
         _aparm(aparm),
         _motors(motors)
         {
+            _singleton = this;
             AP_Param::setup_object_defaults(this, var_info);
         }
 
+    static AC_AttitudeControl *get_singleton(void) {
+        return _singleton;
+    }
+
     // Empty destructor to suppress compiler warning
     virtual ~AC_AttitudeControl() {}
 
@@ -363,6 +368,9 @@ public:
     // enable inverted flight on backends that support it
     virtual void set_inverted_flight(bool inverted) {}
 
+    // get the PDmod value for roll, pitch and yaw, for oscillation detection in lua scripts
+    void get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod);
+
     // User settable parameters
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -483,6 +491,8 @@ protected:
     const AP_Vehicle::MultiCopter &_aparm;
     AP_Motors&          _motors;
 
+    static AC_AttitudeControl *_singleton;
+
 protected:
     /*
       state of control monitoring