AC_AttitudeControl Class Reference

#include <AC_AttitudeControl.h>

Inheritance diagram for AC_AttitudeControl:

Collaboration diagram for AC_AttitudeControl:

Public Member Functions
	AC_AttitudeControl (AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_Motors &motors, float dt)
virtual	~AC_AttitudeControl ()
AC_P &	get_angle_roll_p ()
AC_P &	get_angle_pitch_p ()
AC_P &	get_angle_yaw_p ()
virtual AC_PID &	get_rate_roll_pid ()=0
virtual AC_PID &	get_rate_pitch_pid ()=0
virtual AC_PID &	get_rate_yaw_pid ()=0
float	get_accel_roll_max () const
float	get_accel_roll_max_radss () const
void	set_accel_roll_max (float accel_roll_max)
void	save_accel_roll_max (float accel_roll_max)
float	get_accel_pitch_max () const
float	get_accel_pitch_max_radss () const
void	set_accel_pitch_max (float accel_pitch_max)
void	save_accel_pitch_max (float accel_pitch_max)
float	get_accel_yaw_max () const
float	get_accel_yaw_max_radss () const
void	set_accel_yaw_max (float accel_yaw_max)
void	save_accel_yaw_max (float accel_yaw_max)
void	set_input_tc (float input_tc)
void	relax_attitude_controllers ()
void	reset_rate_controller_I_terms ()
void	set_attitude_target_to_current_attitude ()
void	set_yaw_target_to_current_heading ()
void	shift_ef_yaw_target (float yaw_shift_cd)
void	inertial_frame_reset ()
void	input_quaternion (Quaternion attitude_desired_quat)
virtual void	input_euler_angle_roll_pitch_euler_rate_yaw (float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds)
virtual void	input_euler_angle_roll_pitch_yaw (float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw)
void	input_euler_rate_roll_pitch_yaw (float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)
virtual void	input_rate_bf_roll_pitch_yaw (float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
void	input_rate_bf_roll_pitch_yaw_2 (float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
void	input_rate_bf_roll_pitch_yaw_3 (float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
virtual void	input_angle_step_bf_roll_pitch_yaw (float roll_angle_step_bf_cd, float pitch_angle_step_bf_cd, float yaw_angle_step_bf_cd)
virtual void	rate_controller_run ()=0
void	euler_rate_to_ang_vel (const Vector3f &euler_rad, const Vector3f &euler_rate_rads, Vector3f &ang_vel_rads)
bool	ang_vel_to_euler_rate (const Vector3f &euler_rad, const Vector3f &ang_vel_rads, Vector3f &euler_rate_rads)
void	use_sqrt_controller (bool use_sqrt_cont)
Vector3f	get_att_target_euler_cd () const
float	get_att_error_angle_deg () const
void	rate_bf_roll_target (float rate_cds)
void	rate_bf_pitch_target (float rate_cds)
void	rate_bf_yaw_target (float rate_cds)
float	max_rate_step_bf_roll ()
float	max_rate_step_bf_pitch ()
float	max_rate_step_bf_yaw ()
float	max_angle_step_bf_roll ()
float	max_angle_step_bf_pitch ()
float	max_angle_step_bf_yaw ()
Vector3f	rate_bf_targets () const
void	bf_feedforward (bool enable_or_disable)
void	bf_feedforward_save (bool enable_or_disable)
bool	get_bf_feedforward ()
void	accel_limiting (bool enable_or_disable)
virtual void	update_althold_lean_angle_max (float throttle_in)=0
virtual void	set_throttle_out (float throttle_in, bool apply_angle_boost, float filt_cutoff)=0
void	set_throttle_out_unstabilized (float throttle_in, bool reset_attitude_control, float filt_cutoff)
float	get_throttle_in () const
float	angle_boost () const
float	get_althold_lean_angle_max () const
float	lean_angle_max () const
void	input_shaping_rate_predictor (Vector2f error_angle, Vector2f &target_ang_vel, float dt) const
void	ang_vel_limit (Vector3f &euler_rad, float ang_vel_roll_max, float ang_vel_pitch_max, float ang_vel_yaw_max) const
Vector3f	euler_accel_limit (Vector3f euler_rad, Vector3f euler_accel)
void	thrust_heading_rotation_angles (Quaternion &att_to_quat, const Quaternion &att_from_quat, Vector3f &att_diff_angle, float &thrust_vec_dot)
void	attitude_controller_run_quat ()
virtual void	parameter_sanity_check ()
virtual bool	is_throttle_mix_min () const
virtual void	set_throttle_mix_min ()
virtual void	set_throttle_mix_man ()
virtual void	set_throttle_mix_max ()
virtual void	set_throttle_mix_value (float value)
virtual float	get_throttle_mix (void) const
virtual void	use_flybar_passthrough (bool passthrough, bool tail_passthrough)
virtual void	use_leaky_i (bool leaky_i)
virtual void	set_hover_roll_trim_scalar (float scalar)
virtual void	passthrough_bf_roll_pitch_rate_yaw (float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds)
virtual void	set_inverted_flight (bool inverted)
void	control_monitor_log (void)
float	control_monitor_rms_output_roll (void) const
float	control_monitor_rms_output_roll_P (void) const
float	control_monitor_rms_output_roll_D (void) const
float	control_monitor_rms_output_pitch_P (void) const
float	control_monitor_rms_output_pitch_D (void) const
float	control_monitor_rms_output_pitch (void) const
float	control_monitor_rms_output_yaw (void) const

Static Public Member Functions
static float	sqrt_controller (float error, float p, float second_ord_lim, float dt)
static float	stopping_point (float first_ord_mag, float p, float second_ord_lim)
static float	input_shaping_angle (float error_angle, float smoothing_gain, float accel_max, float target_ang_vel, float dt)
static float	input_shaping_ang_vel (float target_ang_vel, float desired_ang_vel, float accel_max, float dt)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions
Vector3f	update_ang_vel_target_from_att_error (Vector3f attitude_error_rot_vec_rad)
float	rate_target_to_motor_roll (float rate_actual_rads, float rate_target_rads)
float	rate_target_to_motor_pitch (float rate_actual_rads, float rate_target_rads)
virtual float	rate_target_to_motor_yaw (float rate_actual_rads, float rate_target_rads)
virtual float	get_roll_trim_rad ()
float	get_slew_yaw_rads ()
void	control_monitor_filter_pid (float value, float &rms_P)
void	control_monitor_update (void)

Protected Attributes
AP_Float	_slew_yaw
AP_Float	_ang_vel_roll_max
AP_Float	_ang_vel_pitch_max
AP_Float	_ang_vel_yaw_max
AP_Float	_accel_roll_max
AP_Float	_accel_pitch_max
AP_Float	_accel_yaw_max
AP_Int8	_rate_bf_ff_enabled
AP_Int8	_angle_boost_enabled
AC_P	_p_angle_roll
AC_P	_p_angle_pitch
AC_P	_p_angle_yaw
AP_Float	_angle_limit_tc
AP_Float	_input_tc
float	_dt
Vector3f	_attitude_target_euler_angle
Vector3f	_attitude_target_euler_rate
Quaternion	_attitude_target_quat
Vector3f	_attitude_target_ang_vel
Vector3f	_rate_target_ang_vel
Quaternion	_attitude_ang_error
float	_thrust_error_angle
float	_throttle_in = 0.0f
float	_angle_boost
bool	_use_sqrt_controller
float	_althold_lean_angle_max = 0.0f
float	_throttle_rpy_mix_desired
float	_throttle_rpy_mix
const AP_AHRS_View &	_ahrs
const AP_Vehicle::MultiCopter &	_aparm
AP_Motors &	_motors
struct {
float   rms_roll_P
float   rms_roll_D
float   rms_pitch_P
float   rms_pitch_D
float   rms_yaw
}	_control_monitor
bool	_inverted_flight

Detailed Description

Definition at line 45 of file AC_AttitudeControl.h.

Constructor & Destructor Documentation

AC_AttitudeControl()

AC_AttitudeControl::AC_AttitudeControl ( AP_AHRS_View &  ahrs, const AP_Vehicle::MultiCopter &  aparm, AP_Motors &  motors, float  dt  )

inline

Definition at line 47 of file AC_AttitudeControl.h.

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~AC_AttitudeControl()

virtual AC_AttitudeControl::~AC_AttitudeControl ( )

inlinevirtual

Definition at line 67 of file AC_AttitudeControl.h.

Member Function Documentation

accel_limiting()

void AC_AttitudeControl::accel_limiting

(

bool

enable_or_disable

)

Definition at line 882 of file AC_AttitudeControl.cpp.

Referenced by get_bf_feedforward().

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ang_vel_limit()

void AC_AttitudeControl::ang_vel_limit	(	Vector3f &	euler_rad,
		float	ang_vel_roll_max,
		float	ang_vel_pitch_max,
		float	ang_vel_yaw_max
	)		const

Definition at line 683 of file AC_AttitudeControl.cpp.

Referenced by attitude_controller_run_quat(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), input_shaping_rate_predictor(), and lean_angle_max().

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ang_vel_to_euler_rate()

bool AC_AttitudeControl::ang_vel_to_euler_rate	(	const Vector3f &	euler_rad,
		const Vector3f &	ang_vel_rads,
		Vector3f &	euler_rate_rads
	)

Definition at line 764 of file AC_AttitudeControl.cpp.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), and set_yaw_target_to_current_heading().

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angle_boost()

float AC_AttitudeControl::angle_boost ( ) const

inline

Definition at line 230 of file AC_AttitudeControl.h.

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attitude_controller_run_quat()

void AC_AttitudeControl::attitude_controller_run_quat

(

)

Definition at line 526 of file AC_AttitudeControl.cpp.

Referenced by input_angle_step_bf_roll_pitch_yaw(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), and lean_angle_max().

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bf_feedforward()

void AC_AttitudeControl::bf_feedforward ( bool  enable_or_disable )

inline

Definition at line 206 of file AC_AttitudeControl.h.

bf_feedforward_save()

void AC_AttitudeControl::bf_feedforward_save ( bool  enable_or_disable )

inline

Definition at line 209 of file AC_AttitudeControl.h.

control_monitor_filter_pid()

void AC_AttitudeControl::control_monitor_filter_pid ( float  value, float &  rms_P  )

protected

Definition at line 14 of file ControlMonitor.cpp.

Referenced by control_monitor_update().

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control_monitor_log()

void AC_AttitudeControl::control_monitor_log

(

void

)

Definition at line 42 of file ControlMonitor.cpp.

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control_monitor_rms_output_pitch()

float AC_AttitudeControl::control_monitor_rms_output_pitch

(

void

)

const

Definition at line 81 of file ControlMonitor.cpp.

control_monitor_rms_output_pitch_D()

float AC_AttitudeControl::control_monitor_rms_output_pitch_D

(

void

)

const

Definition at line 97 of file ControlMonitor.cpp.

control_monitor_rms_output_pitch_P()

float AC_AttitudeControl::control_monitor_rms_output_pitch_P

(

void

)

const

Definition at line 89 of file ControlMonitor.cpp.

control_monitor_rms_output_roll()

float AC_AttitudeControl::control_monitor_rms_output_roll

(

void

)

const

Definition at line 57 of file ControlMonitor.cpp.

control_monitor_rms_output_roll_D()

float AC_AttitudeControl::control_monitor_rms_output_roll_D

(

void

)

const

Definition at line 73 of file ControlMonitor.cpp.

control_monitor_rms_output_roll_P()

float AC_AttitudeControl::control_monitor_rms_output_roll_P

(

void

)

const

Definition at line 65 of file ControlMonitor.cpp.

control_monitor_rms_output_yaw()

float AC_AttitudeControl::control_monitor_rms_output_yaw

(

void

)

const

Definition at line 105 of file ControlMonitor.cpp.

control_monitor_update()

void AC_AttitudeControl::control_monitor_update ( void  )

protected

Definition at line 25 of file ControlMonitor.cpp.

Referenced by AC_AttitudeControl_Sub::rate_controller_run(), and AC_AttitudeControl_Multi::rate_controller_run().

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euler_accel_limit()

Vector3f AC_AttitudeControl::euler_accel_limit	(	Vector3f	euler_rad,
		Vector3f	euler_accel
	)

Definition at line 706 of file AC_AttitudeControl.cpp.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), and lean_angle_max().

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euler_rate_to_ang_vel()

void AC_AttitudeControl::euler_rate_to_ang_vel	(	const Vector3f &	euler_rad,
		const Vector3f &	euler_rate_rads,
		Vector3f &	ang_vel_rads
	)

Definition at line 750 of file AC_AttitudeControl.cpp.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), and set_yaw_target_to_current_heading().

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get_accel_pitch_max()

float AC_AttitudeControl::get_accel_pitch_max ( ) const

inline

Definition at line 88 of file AC_AttitudeControl.h.

get_accel_pitch_max_radss()

float AC_AttitudeControl::get_accel_pitch_max_radss ( ) const

inline

Definition at line 89 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), input_shaping_rate_predictor(), and update_ang_vel_target_from_att_error().

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get_accel_roll_max()

float AC_AttitudeControl::get_accel_roll_max ( ) const

inline

Definition at line 78 of file AC_AttitudeControl.h.

get_accel_roll_max_radss()

float AC_AttitudeControl::get_accel_roll_max_radss ( ) const

inline

Definition at line 79 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), input_shaping_rate_predictor(), and update_ang_vel_target_from_att_error().

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get_accel_yaw_max()

float AC_AttitudeControl::get_accel_yaw_max ( ) const

inline

Definition at line 98 of file AC_AttitudeControl.h.

get_accel_yaw_max_radss()

float AC_AttitudeControl::get_accel_yaw_max_radss ( ) const

inline

Definition at line 99 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), and update_ang_vel_target_from_att_error().

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get_althold_lean_angle_max()

float AC_AttitudeControl::get_althold_lean_angle_max

(

)

const

Definition at line 903 of file AC_AttitudeControl.cpp.

Referenced by angle_boost(), and AC_PosControl::run_xy_controller().

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get_angle_pitch_p()

AC_P& AC_AttitudeControl::get_angle_pitch_p ( )

inline

Definition at line 71 of file AC_AttitudeControl.h.

get_angle_roll_p()

AC_P& AC_AttitudeControl::get_angle_roll_p ( )

inline

Definition at line 70 of file AC_AttitudeControl.h.

get_angle_yaw_p()

AC_P& AC_AttitudeControl::get_angle_yaw_p ( )

inline

Definition at line 72 of file AC_AttitudeControl.h.

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get_att_error_angle_deg()

float AC_AttitudeControl::get_att_error_angle_deg ( ) const

inline

Definition at line 173 of file AC_AttitudeControl.h.

get_att_target_euler_cd()

Vector3f AC_AttitudeControl::get_att_target_euler_cd ( ) const

inline

Definition at line 170 of file AC_AttitudeControl.h.

Referenced by AC_WPNav::get_yaw(), and AC_Loiter::init_target().

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get_bf_feedforward()

bool AC_AttitudeControl::get_bf_feedforward ( )

inline

Definition at line 212 of file AC_AttitudeControl.h.

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get_rate_pitch_pid()

virtual AC_PID& AC_AttitudeControl::get_rate_pitch_pid ( )

pure virtual

Implemented in AC_AttitudeControl_Heli, AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Referenced by control_monitor_update(), get_angle_yaw_p(), max_rate_step_bf_pitch(), rate_target_to_motor_pitch(), relax_attitude_controllers(), and reset_rate_controller_I_terms().

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get_rate_roll_pid()

virtual AC_PID& AC_AttitudeControl::get_rate_roll_pid ( )

pure virtual

Implemented in AC_AttitudeControl_Heli, AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Referenced by control_monitor_update(), get_angle_yaw_p(), max_rate_step_bf_roll(), rate_target_to_motor_roll(), relax_attitude_controllers(), and reset_rate_controller_I_terms().

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get_rate_yaw_pid()

virtual AC_PID& AC_AttitudeControl::get_rate_yaw_pid ( )

pure virtual

Implemented in AC_AttitudeControl_Heli, AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Referenced by control_monitor_update(), get_angle_yaw_p(), max_rate_step_bf_yaw(), rate_target_to_motor_yaw(), relax_attitude_controllers(), and reset_rate_controller_I_terms().

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get_roll_trim_rad()

virtual float AC_AttitudeControl::get_roll_trim_rad ( )

inlineprotectedvirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 315 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), and input_euler_angle_roll_pitch_yaw().

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get_slew_yaw_rads()

float AC_AttitudeControl::get_slew_yaw_rads ( )

inlineprotected

Definition at line 318 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_yaw().

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get_throttle_in()

float AC_AttitudeControl::get_throttle_in ( ) const

inline

Definition at line 227 of file AC_AttitudeControl.h.

get_throttle_mix()

virtual float AC_AttitudeControl::get_throttle_mix ( void  ) const

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi.

Definition at line 279 of file AC_AttitudeControl.h.

inertial_frame_reset()

void AC_AttitudeControl::inertial_frame_reset

(

)

Definition at line 735 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_angle_step_bf_roll_pitch_yaw()

void AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw ( float  roll_angle_step_bf_cd, float  pitch_angle_step_bf_cd, float  yaw_angle_step_bf_cd  )

virtual

Definition at line 501 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_euler_angle_roll_pitch_euler_rate_yaw()

void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw ( float  euler_roll_angle_cd, float  euler_pitch_angle_cd, float  euler_yaw_rate_cds  )

virtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 244 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_euler_rate_yaw(), and set_yaw_target_to_current_heading().

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input_euler_angle_roll_pitch_yaw()

void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw ( float  euler_roll_angle_cd, float  euler_pitch_angle_cd, float  euler_yaw_angle_cd, bool  slew_yaw  )

virtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 295 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw(), and set_yaw_target_to_current_heading().

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input_euler_rate_roll_pitch_yaw()

void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw	(	float	euler_roll_rate_cds,
		float	euler_pitch_rate_cds,
		float	euler_yaw_rate_cds
	)

Definition at line 353 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_quaternion()

void AC_AttitudeControl::input_quaternion

(

Quaternion

attitude_desired_quat

)

Definition at line 210 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_rate_bf_roll_pitch_yaw()

void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw ( float  roll_rate_bf_cds, float  pitch_rate_bf_cds, float  yaw_rate_bf_cds  )

virtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 395 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Heli::input_rate_bf_roll_pitch_yaw(), and set_yaw_target_to_current_heading().

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input_rate_bf_roll_pitch_yaw_2()

void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2	(	float	roll_rate_bf_cds,
		float	pitch_rate_bf_cds,
		float	yaw_rate_bf_cds
	)

Definition at line 432 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_rate_bf_roll_pitch_yaw_3()

void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3	(	float	roll_rate_bf_cds,
		float	pitch_rate_bf_cds,
		float	yaw_rate_bf_cds
	)

Definition at line 455 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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input_shaping_ang_vel()

float AC_AttitudeControl::input_shaping_ang_vel ( float  target_ang_vel, float  desired_ang_vel, float  accel_max, float  dt  )

static

Definition at line 651 of file AC_AttitudeControl.cpp.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_rate_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), input_shaping_angle(), and lean_angle_max().

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input_shaping_angle()

float AC_AttitudeControl::input_shaping_angle ( float  error_angle, float  smoothing_gain, float  accel_max, float  target_ang_vel, float  dt  )

static

Definition at line 641 of file AC_AttitudeControl.cpp.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), input_shaping_rate_predictor(), and lean_angle_max().

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input_shaping_rate_predictor()

void AC_AttitudeControl::input_shaping_rate_predictor	(	Vector2f	error_angle,
		Vector2f &	target_ang_vel,
		float	dt
	)		const

Definition at line 664 of file AC_AttitudeControl.cpp.

Referenced by lean_angle_max(), and AC_Loiter::set_pilot_desired_acceleration().

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is_throttle_mix_min()

virtual bool AC_AttitudeControl::is_throttle_mix_min ( ) const

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Definition at line 272 of file AC_AttitudeControl.h.

lean_angle_max()

float AC_AttitudeControl::lean_angle_max ( ) const

inline

Definition at line 236 of file AC_AttitudeControl.h.

Referenced by AC_WPNav::AC_WPNav(), AC_Loiter::get_angle_max_cd(), AC_PosControl::get_lean_angle_max_cd(), and AC_Loiter::sanity_check_params().

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max_angle_step_bf_pitch()

float AC_AttitudeControl::max_angle_step_bf_pitch ( )

inline

Definition at line 197 of file AC_AttitudeControl.h.

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max_angle_step_bf_roll()

float AC_AttitudeControl::max_angle_step_bf_roll ( )

inline

Definition at line 194 of file AC_AttitudeControl.h.

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max_angle_step_bf_yaw()

float AC_AttitudeControl::max_angle_step_bf_yaw ( )

inline

Definition at line 200 of file AC_AttitudeControl.h.

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max_rate_step_bf_pitch()

float AC_AttitudeControl::max_rate_step_bf_pitch

(

)

Definition at line 981 of file AC_AttitudeControl.cpp.

Referenced by max_angle_step_bf_pitch(), and rate_bf_yaw_target().

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max_rate_step_bf_roll()

float AC_AttitudeControl::max_rate_step_bf_roll

(

)

Definition at line 973 of file AC_AttitudeControl.cpp.

Referenced by max_angle_step_bf_roll(), and rate_bf_yaw_target().

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max_rate_step_bf_yaw()

float AC_AttitudeControl::max_rate_step_bf_yaw

(

)

Definition at line 989 of file AC_AttitudeControl.cpp.

Referenced by max_angle_step_bf_yaw(), and rate_bf_yaw_target().

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parameter_sanity_check()

virtual void AC_AttitudeControl::parameter_sanity_check ( )

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Definition at line 269 of file AC_AttitudeControl.h.

passthrough_bf_roll_pitch_rate_yaw()

virtual void AC_AttitudeControl::passthrough_bf_roll_pitch_rate_yaw ( float  roll_passthrough, float  pitch_passthrough, float  yaw_rate_bf_cds  )

inlinevirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 291 of file AC_AttitudeControl.h.

rate_bf_pitch_target()

void AC_AttitudeControl::rate_bf_pitch_target ( float  rate_cds )

inline

Definition at line 179 of file AC_AttitudeControl.h.

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rate_bf_roll_target()

void AC_AttitudeControl::rate_bf_roll_target ( float  rate_cds )

inline

Definition at line 176 of file AC_AttitudeControl.h.

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rate_bf_targets()

Vector3f AC_AttitudeControl::rate_bf_targets ( ) const

inline

Definition at line 203 of file AC_AttitudeControl.h.

Referenced by DataFlash_Class::Log_Write_Rate().

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rate_bf_yaw_target()

void AC_AttitudeControl::rate_bf_yaw_target ( float  rate_cds )

inline

Definition at line 182 of file AC_AttitudeControl.h.

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rate_controller_run()

virtual void AC_AttitudeControl::rate_controller_run ( )

pure virtual

Implemented in AC_AttitudeControl_Multi, AC_AttitudeControl_Heli, and AC_AttitudeControl_Sub.

Referenced by set_yaw_target_to_current_heading().

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rate_target_to_motor_pitch()

float AC_AttitudeControl::rate_target_to_motor_pitch ( float  rate_actual_rads, float  rate_target_rads  )

protected

Definition at line 836 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Sub::rate_controller_run(), and AC_AttitudeControl_Multi::rate_controller_run().

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rate_target_to_motor_roll()

float AC_AttitudeControl::rate_target_to_motor_roll ( float  rate_actual_rads, float  rate_target_rads  )

protected

Definition at line 813 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Sub::rate_controller_run(), and AC_AttitudeControl_Multi::rate_controller_run().

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rate_target_to_motor_yaw()

float AC_AttitudeControl::rate_target_to_motor_yaw ( float  rate_actual_rads, float  rate_target_rads  )

protectedvirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 859 of file AC_AttitudeControl.cpp.

Referenced by AC_AttitudeControl_Sub::rate_controller_run(), and AC_AttitudeControl_Multi::rate_controller_run().

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relax_attitude_controllers()

void AC_AttitudeControl::relax_attitude_controllers

(

)

Definition at line 162 of file AC_AttitudeControl.cpp.

Referenced by set_input_tc(), and set_throttle_out_unstabilized().

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reset_rate_controller_I_terms()

void AC_AttitudeControl::reset_rate_controller_I_terms

(

)

Definition at line 178 of file AC_AttitudeControl.cpp.

Referenced by set_input_tc().

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save_accel_pitch_max()

void AC_AttitudeControl::save_accel_pitch_max ( float  accel_pitch_max )

inline

Definition at line 95 of file AC_AttitudeControl.h.

save_accel_roll_max()

void AC_AttitudeControl::save_accel_roll_max ( float  accel_roll_max )

inline

Definition at line 85 of file AC_AttitudeControl.h.

save_accel_yaw_max()

void AC_AttitudeControl::save_accel_yaw_max ( float  accel_yaw_max )

inline

Definition at line 105 of file AC_AttitudeControl.h.

set_accel_pitch_max()

void AC_AttitudeControl::set_accel_pitch_max ( float  accel_pitch_max )

inline

Definition at line 92 of file AC_AttitudeControl.h.

set_accel_roll_max()

void AC_AttitudeControl::set_accel_roll_max ( float  accel_roll_max )

inline

Definition at line 82 of file AC_AttitudeControl.h.

set_accel_yaw_max()

void AC_AttitudeControl::set_accel_yaw_max ( float  accel_yaw_max )

inline

Definition at line 102 of file AC_AttitudeControl.h.

set_attitude_target_to_current_attitude()

void AC_AttitudeControl::set_attitude_target_to_current_attitude ( )

inline

Definition at line 117 of file AC_AttitudeControl.h.

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set_hover_roll_trim_scalar()

virtual void AC_AttitudeControl::set_hover_roll_trim_scalar ( float  scalar )

inlinevirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 288 of file AC_AttitudeControl.h.

set_input_tc()

void AC_AttitudeControl::set_input_tc ( float  input_tc )

inline

Definition at line 108 of file AC_AttitudeControl.h.

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set_inverted_flight()

virtual void AC_AttitudeControl::set_inverted_flight ( bool  inverted )

inlinevirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 294 of file AC_AttitudeControl.h.

set_throttle_mix_man()

virtual void AC_AttitudeControl::set_throttle_mix_man ( )

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Definition at line 276 of file AC_AttitudeControl.h.

set_throttle_mix_max()

virtual void AC_AttitudeControl::set_throttle_mix_max ( )

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Definition at line 277 of file AC_AttitudeControl.h.

set_throttle_mix_min()

virtual void AC_AttitudeControl::set_throttle_mix_min ( )

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Definition at line 275 of file AC_AttitudeControl.h.

set_throttle_mix_value()

virtual void AC_AttitudeControl::set_throttle_mix_value ( float  value )

inlinevirtual

Reimplemented in AC_AttitudeControl_Multi.

Definition at line 278 of file AC_AttitudeControl.h.

set_throttle_out()

virtual void AC_AttitudeControl::set_throttle_out ( float  throttle_in, bool  apply_angle_boost, float  filt_cutoff  )

pure virtual

Implemented in AC_AttitudeControl_Heli, AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Referenced by get_bf_feedforward(), and AC_PosControl::run_z_controller().

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set_throttle_out_unstabilized()

void AC_AttitudeControl::set_throttle_out_unstabilized	(	float	throttle_in,
		bool	reset_attitude_control,
		float	filt_cutoff
	)

Definition at line 150 of file AC_AttitudeControl.cpp.

Referenced by get_bf_feedforward().

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set_yaw_target_to_current_heading()

void AC_AttitudeControl::set_yaw_target_to_current_heading ( )

inline

Definition at line 120 of file AC_AttitudeControl.h.

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shift_ef_yaw_target()

void AC_AttitudeControl::shift_ef_yaw_target

(

float

yaw_shift_cd

)

Definition at line 726 of file AC_AttitudeControl.cpp.

Referenced by set_yaw_target_to_current_heading().

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sqrt_controller()

float AC_AttitudeControl::sqrt_controller ( float  error, float  p, float  second_ord_lim, float  dt  )

static

Definition at line 910 of file AC_AttitudeControl.cpp.

Referenced by AC_Loiter::calc_desired_velocity(), AC_Avoid::get_max_speed(), input_shaping_angle(), lean_angle_max(), AC_PosControl::run_z_controller(), and update_ang_vel_target_from_att_error().

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stopping_point()

float AC_AttitudeControl::stopping_point ( float  first_ord_mag, float  p, float  second_ord_lim  )

static

Definition at line 945 of file AC_AttitudeControl.cpp.

Referenced by lean_angle_max().

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thrust_heading_rotation_angles()

void AC_AttitudeControl::thrust_heading_rotation_angles	(	Quaternion &	att_to_quat,
		const Quaternion &	att_from_quat,
		Vector3f &	att_diff_angle,
		float &	thrust_vec_dot
	)

Definition at line 584 of file AC_AttitudeControl.cpp.

Referenced by attitude_controller_run_quat(), and lean_angle_max().

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update_althold_lean_angle_max()

virtual void AC_AttitudeControl::update_althold_lean_angle_max ( float  throttle_in )

pure virtual

Implemented in AC_AttitudeControl_Heli, AC_AttitudeControl_Multi, and AC_AttitudeControl_Sub.

Referenced by get_bf_feedforward().

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update_ang_vel_target_from_att_error()

Vector3f AC_AttitudeControl::update_ang_vel_target_from_att_error ( Vector3f  attitude_error_rot_vec_rad )

protected

Definition at line 783 of file AC_AttitudeControl.cpp.

Referenced by attitude_controller_run_quat(), input_rate_bf_roll_pitch_yaw_3(), and AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw().

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use_flybar_passthrough()

virtual void AC_AttitudeControl::use_flybar_passthrough ( bool  passthrough, bool  tail_passthrough  )

inlinevirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 282 of file AC_AttitudeControl.h.

use_leaky_i()

virtual void AC_AttitudeControl::use_leaky_i ( bool  leaky_i )

inlinevirtual

Reimplemented in AC_AttitudeControl_Heli.

Definition at line 285 of file AC_AttitudeControl.h.

use_sqrt_controller()

void AC_AttitudeControl::use_sqrt_controller ( bool  use_sqrt_cont )

inline

Definition at line 164 of file AC_AttitudeControl.h.

Member Data Documentation

_accel_pitch_max

AP_Float AC_AttitudeControl::_accel_pitch_max

protected

Definition at line 332 of file AC_AttitudeControl.h.

Referenced by accel_limiting(), get_accel_pitch_max(), get_accel_pitch_max_radss(), save_accel_pitch_max(), and set_accel_pitch_max().

_accel_roll_max

AP_Float AC_AttitudeControl::_accel_roll_max

protected

Definition at line 329 of file AC_AttitudeControl.h.

Referenced by accel_limiting(), get_accel_roll_max(), get_accel_roll_max_radss(), save_accel_roll_max(), and set_accel_roll_max().

_accel_yaw_max

AP_Float AC_AttitudeControl::_accel_yaw_max

protected

Definition at line 335 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(), accel_limiting(), get_accel_yaw_max(), get_accel_yaw_max_radss(), save_accel_yaw_max(), and set_accel_yaw_max().

_ahrs

const AP_AHRS_View& AC_AttitudeControl::_ahrs

protected

Definition at line 406 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), AC_AttitudeControl_Sub::get_throttle_boosted(), AC_AttitudeControl_Multi::get_throttle_boosted(), inertial_frame_reset(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), relax_attitude_controllers(), set_attitude_target_to_current_attitude(), and set_yaw_target_to_current_heading().

_althold_lean_angle_max

float AC_AttitudeControl::_althold_lean_angle_max = 0.0f

protected

Definition at line 397 of file AC_AttitudeControl.h.

Referenced by get_althold_lean_angle_max(), AC_AttitudeControl_Sub::update_althold_lean_angle_max(), AC_AttitudeControl_Multi::update_althold_lean_angle_max(), and AC_AttitudeControl_Heli::update_althold_lean_angle_max().

_ang_vel_pitch_max

AP_Float AC_AttitudeControl::_ang_vel_pitch_max

protected

Definition at line 325 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), and input_shaping_rate_predictor().

_ang_vel_roll_max

AP_Float AC_AttitudeControl::_ang_vel_roll_max

protected

Definition at line 324 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), and input_shaping_rate_predictor().

_ang_vel_yaw_max

AP_Float AC_AttitudeControl::_ang_vel_yaw_max

protected

Definition at line 326 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), and input_quaternion().

_angle_boost

float AC_AttitudeControl::_angle_boost

protected

Definition at line 390 of file AC_AttitudeControl.h.

Referenced by angle_boost(), AC_AttitudeControl_Sub::get_throttle_boosted(), AC_AttitudeControl_Multi::get_throttle_boosted(), AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), AC_AttitudeControl_Heli::set_throttle_out(), and set_throttle_out_unstabilized().

_angle_boost_enabled

AP_Int8 AC_AttitudeControl::_angle_boost_enabled

protected

Definition at line 341 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::get_throttle_boosted(), and AC_AttitudeControl_Multi::get_throttle_boosted().

_angle_limit_tc

AP_Float AC_AttitudeControl::_angle_limit_tc

protected

Definition at line 349 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::update_althold_lean_angle_max(), AC_AttitudeControl_Multi::update_althold_lean_angle_max(), and AC_AttitudeControl_Heli::update_althold_lean_angle_max().

_aparm

const AP_Vehicle::MultiCopter& AC_AttitudeControl::_aparm

protected

Definition at line 407 of file AC_AttitudeControl.h.

Referenced by lean_angle_max().

_attitude_ang_error

Quaternion AC_AttitudeControl::_attitude_ang_error

protected

Definition at line 380 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), inertial_frame_reset(), and input_rate_bf_roll_pitch_yaw_3().

_attitude_target_ang_vel

Vector3f AC_AttitudeControl::_attitude_target_ang_vel

protected

Definition at line 373 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_angle_step_bf_roll_pitch_yaw(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), and relax_attitude_controllers().

_attitude_target_euler_angle

Vector3f AC_AttitudeControl::_attitude_target_euler_angle

protected

Definition at line 359 of file AC_AttitudeControl.h.

Referenced by get_att_target_euler_cd(), inertial_frame_reset(), input_angle_step_bf_roll_pitch_yaw(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), relax_attitude_controllers(), and set_yaw_target_to_current_heading().

_attitude_target_euler_rate

Vector3f AC_AttitudeControl::_attitude_target_euler_rate

protected

Definition at line 364 of file AC_AttitudeControl.h.

Referenced by input_angle_step_bf_roll_pitch_yaw(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), and input_rate_bf_roll_pitch_yaw_3().

_attitude_target_quat

Quaternion AC_AttitudeControl::_attitude_target_quat

protected

Definition at line 368 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), inertial_frame_reset(), input_angle_step_bf_roll_pitch_yaw(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), relax_attitude_controllers(), set_attitude_target_to_current_attitude(), and shift_ef_yaw_target().

_control_monitor

struct { ... } AC_AttitudeControl::_control_monitor

Referenced by control_monitor_log(), control_monitor_rms_output_pitch(), control_monitor_rms_output_pitch_D(), control_monitor_rms_output_pitch_P(), control_monitor_rms_output_roll(), control_monitor_rms_output_roll_D(), control_monitor_rms_output_roll_P(), control_monitor_rms_output_yaw(), and control_monitor_update().

_dt

float AC_AttitudeControl::_dt

protected

Definition at line 355 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors(), max_rate_step_bf_pitch(), max_rate_step_bf_roll(), max_rate_step_bf_yaw(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), AC_AttitudeControl_Sub::update_althold_lean_angle_max(), AC_AttitudeControl_Multi::update_althold_lean_angle_max(), AC_AttitudeControl_Heli::update_althold_lean_angle_max(), update_ang_vel_target_from_att_error(), AC_AttitudeControl_Sub::update_throttle_rpy_mix(), and AC_AttitudeControl_Multi::update_throttle_rpy_mix().

_input_tc

AP_Float AC_AttitudeControl::_input_tc

protected

Definition at line 352 of file AC_AttitudeControl.h.

Referenced by input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_quaternion(), input_shaping_rate_predictor(), and set_input_tc().

_inverted_flight

bool AC_AttitudeControl::_inverted_flight

protected

Definition at line 427 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_euler_rate_yaw(), AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw(), and AC_AttitudeControl_Heli::set_inverted_flight().

_motors

AP_Motors& AC_AttitudeControl::_motors

protected

Definition at line 408 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::get_throttle_avg_max(), AC_AttitudeControl_Multi::get_throttle_avg_max(), max_rate_step_bf_pitch(), max_rate_step_bf_roll(), max_rate_step_bf_yaw(), AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), rate_target_to_motor_pitch(), rate_target_to_motor_roll(), AC_AttitudeControl_Heli::rate_target_to_motor_yaw(), rate_target_to_motor_yaw(), AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), AC_AttitudeControl_Heli::set_throttle_out(), and set_throttle_out_unstabilized().

_p_angle_pitch

AC_P AC_AttitudeControl::_p_angle_pitch

protected

Definition at line 345 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(), get_angle_pitch_p(), input_shaping_rate_predictor(), max_angle_step_bf_pitch(), and update_ang_vel_target_from_att_error().

_p_angle_roll

AC_P AC_AttitudeControl::_p_angle_roll

protected

Definition at line 344 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(), get_angle_roll_p(), input_shaping_rate_predictor(), max_angle_step_bf_roll(), and update_ang_vel_target_from_att_error().

_p_angle_yaw

AC_P AC_AttitudeControl::_p_angle_yaw

protected

Definition at line 346 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(), get_angle_yaw_p(), max_angle_step_bf_yaw(), thrust_heading_rotation_angles(), and update_ang_vel_target_from_att_error().

_rate_bf_ff_enabled

AP_Int8 AC_AttitudeControl::_rate_bf_ff_enabled

protected

Definition at line 338 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), bf_feedforward(), bf_feedforward_save(), get_bf_feedforward(), input_euler_angle_roll_pitch_euler_rate_yaw(), input_euler_angle_roll_pitch_yaw(), input_euler_rate_roll_pitch_yaw(), input_quaternion(), input_rate_bf_roll_pitch_yaw(), and input_shaping_rate_predictor().

_rate_target_ang_vel

Vector3f AC_AttitudeControl::_rate_target_ang_vel

protected

Definition at line 377 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), input_rate_bf_roll_pitch_yaw_2(), input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), rate_bf_pitch_target(), rate_bf_roll_target(), rate_bf_targets(), rate_bf_yaw_target(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), and relax_attitude_controllers().

_slew_yaw

AP_Float AC_AttitudeControl::_slew_yaw

protected

Definition at line 321 of file AC_AttitudeControl.h.

Referenced by get_slew_yaw_rads().

_throttle_in

float AC_AttitudeControl::_throttle_in = 0.0f

protected

Definition at line 386 of file AC_AttitudeControl.h.

Referenced by get_throttle_in(), AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), AC_AttitudeControl_Heli::set_throttle_out(), set_throttle_out_unstabilized(), AC_AttitudeControl_Sub::update_althold_lean_angle_max(), AC_AttitudeControl_Multi::update_althold_lean_angle_max(), and AC_AttitudeControl_Heli::update_althold_lean_angle_max().

_throttle_rpy_mix

float AC_AttitudeControl::_throttle_rpy_mix

protected

Definition at line 403 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::get_throttle_avg_max(), AC_AttitudeControl_Multi::get_throttle_avg_max(), AC_AttitudeControl_Multi::get_throttle_mix(), AC_AttitudeControl_Sub::is_throttle_mix_min(), AC_AttitudeControl_Multi::is_throttle_mix_min(), AC_AttitudeControl_Multi::set_throttle_mix_value(), AC_AttitudeControl_Sub::update_throttle_rpy_mix(), and AC_AttitudeControl_Multi::update_throttle_rpy_mix().

_throttle_rpy_mix_desired

float AC_AttitudeControl::_throttle_rpy_mix_desired

protected

Definition at line 400 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl_Sub::set_throttle_mix_man(), AC_AttitudeControl_Multi::set_throttle_mix_man(), AC_AttitudeControl_Sub::set_throttle_mix_max(), AC_AttitudeControl_Multi::set_throttle_mix_max(), AC_AttitudeControl_Sub::set_throttle_mix_min(), AC_AttitudeControl_Multi::set_throttle_mix_min(), AC_AttitudeControl_Multi::set_throttle_mix_value(), AC_AttitudeControl_Sub::update_throttle_rpy_mix(), and AC_AttitudeControl_Multi::update_throttle_rpy_mix().

_thrust_error_angle

float AC_AttitudeControl::_thrust_error_angle

protected

Definition at line 383 of file AC_AttitudeControl.h.

Referenced by attitude_controller_run_quat(), get_att_error_angle_deg(), and AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw().

_use_sqrt_controller

bool AC_AttitudeControl::_use_sqrt_controller

protected

Definition at line 394 of file AC_AttitudeControl.h.

Referenced by update_ang_vel_target_from_att_error(), and use_sqrt_controller().

rms_pitch_D

float AC_AttitudeControl::rms_pitch_D

Definition at line 418 of file AC_AttitudeControl.h.

rms_pitch_P

float AC_AttitudeControl::rms_pitch_P

Definition at line 417 of file AC_AttitudeControl.h.

rms_roll_D

float AC_AttitudeControl::rms_roll_D

Definition at line 416 of file AC_AttitudeControl.h.

rms_roll_P

float AC_AttitudeControl::rms_roll_P

Definition at line 415 of file AC_AttitudeControl.h.

rms_yaw

float AC_AttitudeControl::rms_yaw

Definition at line 419 of file AC_AttitudeControl.h.

var_info

const AP_Param::GroupInfo AC_AttitudeControl::var_info

static

Definition at line 297 of file AC_AttitudeControl.h.

Referenced by AC_AttitudeControl().

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The documentation for this class was generated from the following files:

• libraries/AC_AttitudeControl/AC_AttitudeControl.h
• libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
• libraries/AC_AttitudeControl/ControlMonitor.cpp