mirror of https://github.com/ArduPilot/ardupilot
391 lines
16 KiB
C++
391 lines
16 KiB
C++
#include "AC_AttitudeControl_Sub.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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// table of user settable parameters
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const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
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// parameters from parent vehicle
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AP_NESTEDGROUPINFO(AC_AttitudeControl, 0),
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// @Param: RAT_RLL_P
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// @DisplayName: Roll axis rate controller P gain
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
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// @Range: 0.0 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_RLL_I
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// @DisplayName: Roll axis rate controller I gain
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
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// @Range: 0.0 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_RLL_IMAX
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// @DisplayName: Roll axis rate controller I gain maximum
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @Units: %
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// @User: Standard
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// @Param: RAT_RLL_D
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// @DisplayName: Roll axis rate controller D gain
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
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// @Range: 0.0 0.02
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_RLL_FF
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// @DisplayName: Roll axis rate controller feed forward
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// @Description: Roll axis rate controller feed forward
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// @Range: 0 0.5
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_RLL_FLTT
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// @DisplayName: Roll axis rate controller input frequency in Hz
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// @Description: Roll axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_FLTE
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// @DisplayName: Roll axis rate controller input frequency in Hz
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// @Description: Roll axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_FLTD
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// @DisplayName: Roll axis rate controller input frequency in Hz
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// @Description: Roll axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_RLL_SMAX
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// @DisplayName: Roll slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Sub, AC_PID),
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// @Param: RAT_PIT_P
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// @DisplayName: Pitch axis rate controller P gain
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
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// @Range: 0.0 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_PIT_I
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// @DisplayName: Pitch axis rate controller I gain
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
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// @Range: 0.0 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_PIT_IMAX
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// @DisplayName: Pitch axis rate controller I gain maximum
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @Units: %
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// @User: Standard
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// @Param: RAT_PIT_D
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// @DisplayName: Pitch axis rate controller D gain
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
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// @Range: 0.0 0.02
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_PIT_FF
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// @DisplayName: Pitch axis rate controller feed forward
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// @Description: Pitch axis rate controller feed forward
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// @Range: 0 0.5
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_PIT_FLTT
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// @DisplayName: Pitch axis rate controller input frequency in Hz
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// @Description: Pitch axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_FLTE
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// @DisplayName: Pitch axis rate controller input frequency in Hz
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// @Description: Pitch axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_FLTD
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// @DisplayName: Pitch axis rate controller input frequency in Hz
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// @Description: Pitch axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_SMAX
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// @DisplayName: Pitch slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Sub, AC_PID),
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// @Param: RAT_YAW_P
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// @DisplayName: Yaw axis rate controller P gain
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
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// @Range: 0.0 0.50
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// @Increment: 0.005
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// @User: Standard
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// @Param: RAT_YAW_I
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// @DisplayName: Yaw axis rate controller I gain
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
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// @Range: 0.0 0.05
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// @Increment: 0.01
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// @User: Standard
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// @Param: RAT_YAW_IMAX
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// @DisplayName: Yaw axis rate controller I gain maximum
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 1
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// @Increment: 0.01
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// @Units: %
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// @User: Standard
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// @Param: RAT_YAW_D
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// @DisplayName: Yaw axis rate controller D gain
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
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// @Range: 0.000 0.02
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_YAW_FF
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// @DisplayName: Yaw axis rate controller feed forward
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// @Description: Yaw axis rate controller feed forward
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// @Range: 0 0.5
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// @Increment: 0.001
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// @User: Standard
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// @Param: RAT_YAW_FLTT
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// @DisplayName: Yaw axis rate controller input frequency in Hz
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// @Description: Yaw axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_FLTE
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// @DisplayName: Yaw axis rate controller input frequency in Hz
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// @Description: Yaw axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_FLTD
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// @DisplayName: Yaw axis rate controller input frequency in Hz
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// @Description: Yaw axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_SMAX
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// @DisplayName: Yaw slew rate limit
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// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
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// @Range: 0 200
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// @Increment: 0.5
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// @User: Advanced
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AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Sub, AC_PID),
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// @Param: THR_MIX_MIN
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// @DisplayName: Throttle Mix Minimum
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// @Description: Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
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// @Range: 0.1 0.25
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// @User: Advanced
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AP_GROUPINFO("THR_MIX_MIN", 4, AC_AttitudeControl_Sub, _thr_mix_min, AC_ATTITUDE_CONTROL_MIN_DEFAULT),
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// @Param: THR_MIX_MAX
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// @DisplayName: Throttle Mix Maximum
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// @Description: Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
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// @Range: 0.5 0.9
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// @User: Advanced
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AP_GROUPINFO("THR_MIX_MAX", 5, AC_AttitudeControl_Sub, _thr_mix_max, AC_ATTITUDE_CONTROL_MAX_DEFAULT),
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// @Param: THR_MIX_MAN
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// @DisplayName: Throttle Mix Manual
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// @Description: Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
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// @Range: 0.5 0.9
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// @User: Advanced
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AP_GROUPINFO("THR_MIX_MAN", 6, AC_AttitudeControl_Sub, _thr_mix_man, AC_ATTITUDE_CONTROL_MAN_DEFAULT),
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// @Param: RAT_RLL_FILT
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// @DisplayName: Roll axis rate controller input frequency in Hz
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// @Description: Roll axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_PIT_FILT
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// @DisplayName: Pitch axis rate controller input frequency in Hz
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// @Description: Pitch axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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// @Param: RAT_YAW_FILT
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// @DisplayName: Yaw axis rate controller input frequency in Hz
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// @Description: Yaw axis rate controller input frequency in Hz
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// @Range: 1 100
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// @Increment: 1
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// @Units: Hz
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// @User: Standard
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AP_GROUPEND
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};
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AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
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AC_AttitudeControl(ahrs, aparm, motors, dt),
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_motors_multi(motors),
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_pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ, dt),
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_pid_rate_pitch(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ, dt),
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_pid_rate_yaw(AC_ATC_SUB_RATE_YAW_P, AC_ATC_SUB_RATE_YAW_I, AC_ATC_SUB_RATE_YAW_D, 0.0f, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_YAW_FILT_HZ, dt)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// Sub-specific defaults for parent class
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_p_angle_roll.kP().set_default(AC_ATC_SUB_ANGLE_P);
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_p_angle_pitch.kP().set_default(AC_ATC_SUB_ANGLE_P);
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_p_angle_yaw.kP().set_default(AC_ATC_SUB_ANGLE_P);
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_accel_yaw_max.set_default(AC_ATC_SUB_ACCEL_Y_MAX);
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}
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// Update Alt_Hold angle maximum
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void AC_AttitudeControl_Sub::update_althold_lean_angle_max(float throttle_in)
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{
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// calc maximum tilt angle based on throttle
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float thr_max = _motors_multi.get_throttle_thrust_max();
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// divide by zero check
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if (is_zero(thr_max)) {
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_althold_lean_angle_max = 0.0f;
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return;
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}
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float althold_lean_angle_max = acosf(constrain_float(throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
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_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
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}
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void AC_AttitudeControl_Sub::set_throttle_out(float throttle_in, bool apply_angle_boost, float filter_cutoff)
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{
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_throttle_in = throttle_in;
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update_althold_lean_angle_max(throttle_in);
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_motors.set_throttle_filter_cutoff(filter_cutoff);
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if (apply_angle_boost) {
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// Apply angle boost
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throttle_in = get_throttle_boosted(throttle_in);
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}else{
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// Clear angle_boost for logging purposes
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_angle_boost = 0.0f;
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}
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_motors.set_throttle(throttle_in);
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_motors.set_throttle_avg_max(get_throttle_avg_max(MAX(throttle_in, _throttle_in)));
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}
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// returns a throttle including compensation for roll/pitch angle
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// throttle value should be 0 ~ 1
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float AC_AttitudeControl_Sub::get_throttle_boosted(float throttle_in)
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{
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if (!_angle_boost_enabled) {
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_angle_boost = 0;
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return throttle_in;
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}
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// inverted_factor is 1 for tilt angles below 60 degrees
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// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees
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float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
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float inverted_factor = constrain_float(2.0f*cos_tilt, 0.0f, 1.0f);
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float boost_factor = 1.0f/constrain_float(cos_tilt, 0.5f, 1.0f);
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float throttle_out = throttle_in*inverted_factor*boost_factor;
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_angle_boost = constrain_float(throttle_out - throttle_in,-1.0f,1.0f);
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return throttle_out;
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}
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// returns a throttle including compensation for roll/pitch angle
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// throttle value should be 0 ~ 1
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float AC_AttitudeControl_Sub::get_throttle_avg_max(float throttle_in)
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{
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throttle_in = constrain_float(throttle_in, 0.0f, 1.0f);
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return MAX(throttle_in, throttle_in*MAX(0.0f,1.0f-_throttle_rpy_mix)+_motors.get_throttle_hover()*_throttle_rpy_mix);
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}
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// update_throttle_rpy_mix - slew set_throttle_rpy_mix to requested value
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void AC_AttitudeControl_Sub::update_throttle_rpy_mix()
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{
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// slew _throttle_rpy_mix to _throttle_rpy_mix_desired
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if (_throttle_rpy_mix < _throttle_rpy_mix_desired) {
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// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
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_throttle_rpy_mix += MIN(2.0f*_dt, _throttle_rpy_mix_desired-_throttle_rpy_mix);
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} else if (_throttle_rpy_mix > _throttle_rpy_mix_desired) {
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// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
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_throttle_rpy_mix -= MIN(0.5f*_dt, _throttle_rpy_mix-_throttle_rpy_mix_desired);
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}
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_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX);
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}
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void AC_AttitudeControl_Sub::rate_controller_run()
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{
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// move throttle vs attitude mixing towards desired (called from here because this is conveniently called on every iteration)
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update_throttle_rpy_mix();
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Vector3f gyro_latest = _ahrs.get_gyro_latest();
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_motors.set_roll(get_rate_roll_pid().update_all(_ang_vel_body.x, gyro_latest.x, _motors.limit.roll));
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_motors.set_pitch(get_rate_pitch_pid().update_all(_ang_vel_body.y, gyro_latest.y, _motors.limit.pitch));
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_motors.set_yaw(get_rate_yaw_pid().update_all(_ang_vel_body.z, gyro_latest.z, _motors.limit.yaw));
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control_monitor_update();
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}
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// sanity check parameters. should be called once before takeoff
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void AC_AttitudeControl_Sub::parameter_sanity_check()
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{
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// sanity check throttle mix parameters
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if (_thr_mix_man < 0.1f || _thr_mix_man > 4.0f) {
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// parameter description recommends thr-mix-man be no higher than 0.9 but we allow up to 4.0
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// which can be useful for very high powered copters with very low hover throttle
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_thr_mix_man.set_and_save(AC_ATTITUDE_CONTROL_MAN_DEFAULT);
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}
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if (_thr_mix_min < 0.1f || _thr_mix_min > 0.25f) {
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_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);
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}
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if (_thr_mix_max < 0.5f || _thr_mix_max > AC_ATTITUDE_CONTROL_MAX) {
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// parameter description recommends thr-mix-max be no higher than 0.9 but we allow up to 5.0
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// which can be useful for very high powered copters with very low hover throttle
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_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
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}
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if (_thr_mix_min > _thr_mix_max) {
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_thr_mix_min.set_and_save(AC_ATTITUDE_CONTROL_MIN_DEFAULT);
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_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
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}
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}
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