ArduCopter attitude control library for traditional helicopters. More...

#include "AC_AttitudeControl.h"
#include <AP_Motors/AP_MotorsHeli.h>
#include <AC_PID/AC_HELI_PID.h>
#include <Filter/Filter.h>

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Classes
class	AC_AttitudeControl_Heli

struct	AC_AttitudeControl_Heli::AttControlHeliFlags

Macros
#define	AC_ATC_HELI_RATE_RP_P 0.024f

#define	AC_ATC_HELI_RATE_RP_I 0.6f

#define	AC_ATC_HELI_RATE_RP_D 0.001f

#define	AC_ATC_HELI_RATE_RP_IMAX 1.0f

#define	AC_ATC_HELI_RATE_RP_FF 0.060f

#define	AC_ATC_HELI_RATE_RP_FILT_HZ 20.0f

#define	AC_ATC_HELI_RATE_YAW_P 0.18f

#define	AC_ATC_HELI_RATE_YAW_I 0.12f

#define	AC_ATC_HELI_RATE_YAW_D 0.003f

#define	AC_ATC_HELI_RATE_YAW_IMAX 1.0f

#define	AC_ATC_HELI_RATE_YAW_FF 0.024f

#define	AC_ATC_HELI_RATE_YAW_FILT_HZ 20.0f

#define	AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f

#define	AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f

#define	AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f

#define	AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f

#define	AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300

#define	AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f)

Detailed Description

ArduCopter attitude control library for traditional helicopters.

Definition in file AC_AttitudeControl_Heli.h.

Macro Definition Documentation

◆ AC_ATC_HELI_RATE_RP_D

#define AC_ATC_HELI_RATE_RP_D 0.001f

Definition at line 14 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_RP_FF

#define AC_ATC_HELI_RATE_RP_FF 0.060f

Definition at line 16 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_RP_FILT_HZ

#define AC_ATC_HELI_RATE_RP_FILT_HZ 20.0f

Definition at line 17 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_RP_I

#define AC_ATC_HELI_RATE_RP_I 0.6f

Definition at line 13 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_RP_IMAX

#define AC_ATC_HELI_RATE_RP_IMAX 1.0f

Definition at line 15 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_RP_P

#define AC_ATC_HELI_RATE_RP_P 0.024f

Definition at line 12 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_D

#define AC_ATC_HELI_RATE_YAW_D 0.003f

Definition at line 20 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_FF

#define AC_ATC_HELI_RATE_YAW_FF 0.024f

Definition at line 22 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_FILT_HZ

#define AC_ATC_HELI_RATE_YAW_FILT_HZ 20.0f

Definition at line 23 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_I

#define AC_ATC_HELI_RATE_YAW_I 0.12f

Definition at line 19 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_IMAX

#define AC_ATC_HELI_RATE_YAW_IMAX 1.0f

Definition at line 21 of file AC_AttitudeControl_Heli.h.

◆ AC_ATC_HELI_RATE_YAW_P

#define AC_ATC_HELI_RATE_YAW_P 0.18f

Definition at line 18 of file AC_AttitudeControl_Heli.h.

◆ AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD

#define AC_ATTITUDE_HELI_ACRO_OVERSHOOT_ANGLE_RAD ToRad(30.0f)

Definition at line 30 of file AC_AttitudeControl_Heli.h.

Referenced by AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors().

◆ AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX

#define AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX 0.95f

Definition at line 25 of file AC_AttitudeControl_Heli.h.

Referenced by AC_AttitudeControl_Heli::update_althold_lean_angle_max().

◆ AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT

#define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT 300

Definition at line 29 of file AC_AttitudeControl_Heli.h.

◆ AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE

#define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f

Definition at line 26 of file AC_AttitudeControl_Heli.h.

Referenced by AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), and AC_AttitudeControl_Heli::rate_target_to_motor_yaw().

◆ AC_ATTITUDE_HELI_RATE_RP_FF_FILTER

#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 10.0f

Definition at line 27 of file AC_AttitudeControl_Heli.h.

◆ AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER

#define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER 10.0f

Definition at line 28 of file AC_AttitudeControl_Heli.h.

Classes

Macros