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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_auto.cpp
+7 -7
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@@ -165,10 +165,10 @@ void Sub::auto_wp_run()
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
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);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true);
}
}
@@ -242,10 +242,10 @@ void Sub::auto_spline_run()
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
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);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true);
}
}
@@ -332,7 +332,7 @@ void Sub::auto_circle_run()
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true);
}
#if NAV_GUIDED == ENABLED
@@ -425,7 +425,7 @@ void Sub::auto_loiter_run()
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// roll & pitch from waypoint controller, yaw rate from pilot
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);
}
// get_default_auto_yaw_mode - returns auto_yaw_mode based on WP_YAW_BEHAVIOR parameter
@@ -761,5 +761,5 @@ void Sub::auto_terrain_recover_run()
float target_yaw_rate = 0;
// call attitude controller
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);
}