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Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc

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Randy Mackay
2018-03-16 13:50:57 +09:00
parent a727305a59
commit da17034a3d
10 changed files with 27 additions and 51 deletions
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ArduSub/control_althold.cpp
+3 -3
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@@ -59,7 +59,7 @@ void Sub::althold_run()
// call attitude controller
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
last_pilot_heading = ahrs.yaw_sensor;
last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading
@@ -71,11 +71,11 @@ void Sub::althold_run()
target_yaw_rate = 0; // Stop rotation on yaw axis
// call attitude controller with target yaw rate = 0 to decelerate on yaw axis
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
} else { // call attitude controller holding absolute absolute bearing
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, last_pilot_heading, true);
}
}