mirror of https://github.com/ArduPilot/ardupilot
211 lines
8.1 KiB
C++
211 lines
8.1 KiB
C++
#include "Copter.h"
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#include "mode.h"
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#if MODE_ACRO_ENABLED == ENABLED
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/*
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* Init and run calls for acro flight mode
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*/
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void ModeAcro::run()
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{
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// convert the input to the desired body frame rate
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float target_roll, target_pitch, target_yaw;
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get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
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if (!motors->armed()) {
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// Motors should be Stopped
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
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} else if (copter.ap.throttle_zero) {
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// Attempting to Land
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
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} else {
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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switch (motors->get_spool_state()) {
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case AP_Motors::SpoolState::SHUT_DOWN:
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// Motors Stopped
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attitude_control->set_attitude_target_to_current_attitude();
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::GROUND_IDLE:
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// Landed
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attitude_control->set_attitude_target_to_current_attitude();
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attitude_control->reset_rate_controller_I_terms();
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break;
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case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
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// clear landing flag above zero throttle
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if (!motors->limit.throttle_lower) {
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set_land_complete(false);
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}
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break;
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case AP_Motors::SpoolState::SPOOLING_UP:
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case AP_Motors::SpoolState::SPOOLING_DOWN:
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// do nothing
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break;
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}
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// run attitude controller
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if (g2.acro_options.get() & uint8_t(AcroOptions::RATE_LOOP_ONLY)) {
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attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
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} else {
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attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
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}
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// output pilot's throttle without angle boost
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attitude_control->set_throttle_out(get_pilot_desired_throttle(),
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false,
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copter.g.throttle_filt);
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}
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bool ModeAcro::init(bool ignore_checks)
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{
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if (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE)) {
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disable_air_mode_reset = false;
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copter.air_mode = AirMode::AIRMODE_ENABLED;
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}
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return true;
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}
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void ModeAcro::exit()
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{
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if (!disable_air_mode_reset && (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE))) {
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copter.air_mode = AirMode::AIRMODE_DISABLED;
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}
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disable_air_mode_reset = false;
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}
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void ModeAcro::air_mode_aux_changed()
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{
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disable_air_mode_reset = true;
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}
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float ModeAcro::throttle_hover() const
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{
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if (g2.acro_thr_mid > 0) {
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return g2.acro_thr_mid;
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}
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return Mode::throttle_hover();
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}
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// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
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// returns desired angle rates in centi-degrees-per-second
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void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
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{
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float rate_limit;
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Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
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// apply circular limit to pitch and roll inputs
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float total_in = norm(pitch_in, roll_in);
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if (total_in > ROLL_PITCH_YAW_INPUT_MAX) {
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float ratio = (float)ROLL_PITCH_YAW_INPUT_MAX / total_in;
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roll_in *= ratio;
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pitch_in *= ratio;
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}
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// range check expo
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g.acro_rp_expo = constrain_float(g.acro_rp_expo, 0.0f, 1.0f);
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// calculate roll, pitch rate requests
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if (is_zero(g.acro_rp_expo)) {
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rate_bf_request.x = roll_in * g.acro_rp_p;
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rate_bf_request.y = pitch_in * g.acro_rp_p;
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} else {
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// expo variables
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float rp_in, rp_in3, rp_out;
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// roll expo
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rp_in = float(roll_in)/ROLL_PITCH_YAW_INPUT_MAX;
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rp_in3 = rp_in*rp_in*rp_in;
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rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
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rate_bf_request.x = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
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// pitch expo
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rp_in = float(pitch_in)/ROLL_PITCH_YAW_INPUT_MAX;
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rp_in3 = rp_in*rp_in*rp_in;
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rp_out = (g.acro_rp_expo * rp_in3) + ((1.0f - g.acro_rp_expo) * rp_in);
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rate_bf_request.y = ROLL_PITCH_YAW_INPUT_MAX * rp_out * g.acro_rp_p;
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}
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// calculate yaw rate request
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rate_bf_request.z = get_pilot_desired_yaw_rate(yaw_in);
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// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
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if (g.acro_trainer != (uint8_t)Trainer::OFF) {
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// get attitude targets
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const Vector3f att_target = attitude_control->get_att_target_euler_cd();
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// Calculate trainer mode earth frame rate command for roll
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int32_t roll_angle = wrap_180_cd(att_target.x);
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rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;
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// Calculate trainer mode earth frame rate command for pitch
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int32_t pitch_angle = wrap_180_cd(att_target.y);
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rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
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// Calculate trainer mode earth frame rate command for yaw
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rate_ef_level.z = 0;
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// Calculate angle limiting earth frame rate commands
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if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
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const float angle_max = copter.aparm.angle_max;
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if (roll_angle > angle_max){
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rate_ef_level.x += AC_AttitudeControl::sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
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}else if (roll_angle < -angle_max) {
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rate_ef_level.x += AC_AttitudeControl::sqrt_controller(-angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
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}
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if (pitch_angle > angle_max){
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rate_ef_level.y += AC_AttitudeControl::sqrt_controller(angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
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}else if (pitch_angle < -angle_max) {
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rate_ef_level.y += AC_AttitudeControl::sqrt_controller(-angle_max - pitch_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_pitch_max(), G_Dt);
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}
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}
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// convert earth-frame level rates to body-frame level rates
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attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
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// combine earth frame rate corrections with rate requests
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if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
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rate_bf_request.x += rate_bf_level.x;
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rate_bf_request.y += rate_bf_level.y;
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rate_bf_request.z += rate_bf_level.z;
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}else{
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float acro_level_mix = constrain_float(1-float(MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0), 0, 1)*ahrs.cos_pitch();
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// Scale leveling rates by stick input
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rate_bf_level = rate_bf_level*acro_level_mix;
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// Calculate rate limit to prevent change of rate through inverted
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rate_limit = fabsf(fabsf(rate_bf_request.x)-fabsf(rate_bf_level.x));
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rate_bf_request.x += rate_bf_level.x;
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rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit);
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// Calculate rate limit to prevent change of rate through inverted
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rate_limit = fabsf(fabsf(rate_bf_request.y)-fabsf(rate_bf_level.y));
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rate_bf_request.y += rate_bf_level.y;
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rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit);
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// Calculate rate limit to prevent change of rate through inverted
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rate_limit = fabsf(fabsf(rate_bf_request.z)-fabsf(rate_bf_level.z));
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rate_bf_request.z += rate_bf_level.z;
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rate_bf_request.z = constrain_float(rate_bf_request.z, -rate_limit, rate_limit);
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}
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}
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// hand back rate request
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roll_out = rate_bf_request.x;
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pitch_out = rate_bf_request.y;
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yaw_out = rate_bf_request.z;
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}
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#endif
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