#include <AC_AttitudeControl_Multi.h>

Inheritance diagram for AC_AttitudeControl_Multi:

Collaboration diagram for AC_AttitudeControl_Multi:

Public Member Functions
	AC_AttitudeControl_Multi (AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter &motors, float dt)

virtual	~AC_AttitudeControl_Multi ()

AC_PID &	get_rate_roll_pid ()

AC_PID &	get_rate_pitch_pid ()

AC_PID &	get_rate_yaw_pid ()

void	update_althold_lean_angle_max (float throttle_in) override

void	set_throttle_out (float throttle_in, bool apply_angle_boost, float filt_cutoff) override

float	get_throttle_boosted (float throttle_in)

void	set_throttle_mix_min () override

void	set_throttle_mix_man () override

void	set_throttle_mix_max () override

void	set_throttle_mix_value (float value) override

float	get_throttle_mix (void) const override

bool	is_throttle_mix_min () const override

void	rate_controller_run ()

void	parameter_sanity_check ()

Public Member Functions inherited from AC_AttitudeControl
	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 ()

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)

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)

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	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 Attributes
static const struct AP_Param::GroupInfo	var_info []

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

Protected Member Functions
void	update_throttle_rpy_mix ()

float	get_throttle_avg_max (float throttle_in)

Protected Member Functions inherited from AC_AttitudeControl
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_MotorsMulticopter &	_motors_multi

AC_PID	_pid_rate_roll

AC_PID	_pid_rate_pitch

AC_PID	_pid_rate_yaw

AP_Float	_thr_mix_man

AP_Float	_thr_mix_min

AP_Float	_thr_mix_max

Protected Attributes inherited from AC_AttitudeControl
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

Additional Inherited Members
Static Public Member Functions inherited from AC_AttitudeControl
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)

Detailed Description

Definition at line 42 of file AC_AttitudeControl_Multi.h.

Constructor & Destructor Documentation

◆ AC_AttitudeControl_Multi()

AC_AttitudeControl_Multi::AC_AttitudeControl_Multi	(	AP_AHRS_View &	ahrs,
		const AP_Vehicle::MultiCopter &	aparm,
		AP_MotorsMulticopter &	motors,
		float	dt
	)

Definition at line 169 of file AC_AttitudeControl_Multi.cpp.

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◆ ~AC_AttitudeControl_Multi()

virtual AC_AttitudeControl_Multi::~AC_AttitudeControl_Multi ( )

inlinevirtual

Definition at line 47 of file AC_AttitudeControl_Multi.h.

Member Function Documentation

◆ get_rate_pitch_pid()

AC_PID& AC_AttitudeControl_Multi::get_rate_pitch_pid ( )

inlinevirtual

Implements AC_AttitudeControl.

Definition at line 51 of file AC_AttitudeControl_Multi.h.

◆ get_rate_roll_pid()

AC_PID& AC_AttitudeControl_Multi::get_rate_roll_pid ( )

inlinevirtual

Implements AC_AttitudeControl.

Definition at line 50 of file AC_AttitudeControl_Multi.h.

◆ get_rate_yaw_pid()

AC_PID& AC_AttitudeControl_Multi::get_rate_yaw_pid ( )

inlinevirtual

Implements AC_AttitudeControl.

Definition at line 52 of file AC_AttitudeControl_Multi.h.

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◆ get_throttle_avg_max()

float AC_AttitudeControl_Multi::get_throttle_avg_max ( float throttle_in )

protected

Definition at line 233 of file AC_AttitudeControl_Multi.cpp.

Referenced by set_throttle_out().

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◆ get_throttle_boosted()

float AC_AttitudeControl_Multi::get_throttle_boosted ( float throttle_in )

Definition at line 213 of file AC_AttitudeControl_Multi.cpp.

Referenced by get_rate_yaw_pid(), and set_throttle_out().

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◆ get_throttle_mix()

float AC_AttitudeControl_Multi::get_throttle_mix ( void ) const

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 70 of file AC_AttitudeControl_Multi.h.

◆ is_throttle_mix_min()

bool AC_AttitudeControl_Multi::is_throttle_mix_min ( ) const

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 73 of file AC_AttitudeControl_Multi.h.

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◆ parameter_sanity_check()

void AC_AttitudeControl_Multi::parameter_sanity_check ( )

virtual

Reimplemented from AC_AttitudeControl.

Definition at line 267 of file AC_AttitudeControl_Multi.cpp.

Referenced by is_throttle_mix_min().

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◆ rate_controller_run()

void AC_AttitudeControl_Multi::rate_controller_run ( )

virtual

Implements AC_AttitudeControl.

Definition at line 253 of file AC_AttitudeControl_Multi.cpp.

Referenced by is_throttle_mix_min().

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◆ set_throttle_mix_man()

void AC_AttitudeControl_Multi::set_throttle_mix_man ( )

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 67 of file AC_AttitudeControl_Multi.h.

◆ set_throttle_mix_max()

void AC_AttitudeControl_Multi::set_throttle_mix_max ( )

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 68 of file AC_AttitudeControl_Multi.h.

◆ set_throttle_mix_min()

void AC_AttitudeControl_Multi::set_throttle_mix_min ( )

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 66 of file AC_AttitudeControl_Multi.h.

◆ set_throttle_mix_value()

void AC_AttitudeControl_Multi::set_throttle_mix_value ( float value )

inlineoverridevirtual

Reimplemented from AC_AttitudeControl.

Definition at line 69 of file AC_AttitudeControl_Multi.h.

◆ set_throttle_out()

void AC_AttitudeControl_Multi::set_throttle_out	(	float	throttle_in,
		bool	apply_angle_boost,
		float	filt_cutoff
	)

overridevirtual

Implements AC_AttitudeControl.

Definition at line 195 of file AC_AttitudeControl_Multi.cpp.

Referenced by get_rate_yaw_pid().

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◆ update_althold_lean_angle_max()

void AC_AttitudeControl_Multi::update_althold_lean_angle_max ( float throttle_in )

overridevirtual

Implements AC_AttitudeControl.

Definition at line 180 of file AC_AttitudeControl_Multi.cpp.

Referenced by get_rate_yaw_pid(), and set_throttle_out().

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◆ update_throttle_rpy_mix()

void AC_AttitudeControl_Multi::update_throttle_rpy_mix ( )

protected

Definition at line 240 of file AC_AttitudeControl_Multi.cpp.

Referenced by rate_controller_run().

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Member Data Documentation

◆ _motors_multi

AP_MotorsMulticopter& AC_AttitudeControl_Multi::_motors_multi

protected

Definition at line 92 of file AC_AttitudeControl_Multi.h.

Referenced by update_althold_lean_angle_max().

◆ _pid_rate_pitch

AC_PID AC_AttitudeControl_Multi::_pid_rate_pitch

protected

Definition at line 94 of file AC_AttitudeControl_Multi.h.

Referenced by get_rate_pitch_pid().

◆ _pid_rate_roll

AC_PID AC_AttitudeControl_Multi::_pid_rate_roll

protected

Definition at line 93 of file AC_AttitudeControl_Multi.h.

Referenced by get_rate_roll_pid().

◆ _pid_rate_yaw

AC_PID AC_AttitudeControl_Multi::_pid_rate_yaw

protected

Definition at line 95 of file AC_AttitudeControl_Multi.h.

Referenced by get_rate_yaw_pid().

◆ _thr_mix_man

AP_Float AC_AttitudeControl_Multi::_thr_mix_man

protected

Definition at line 97 of file AC_AttitudeControl_Multi.h.

Referenced by parameter_sanity_check(), and set_throttle_mix_man().

◆ _thr_mix_max

AP_Float AC_AttitudeControl_Multi::_thr_mix_max

protected

Definition at line 99 of file AC_AttitudeControl_Multi.h.

Referenced by parameter_sanity_check(), and set_throttle_mix_max().

◆ _thr_mix_min

AP_Float AC_AttitudeControl_Multi::_thr_mix_min

protected

Definition at line 98 of file AC_AttitudeControl_Multi.h.

Referenced by is_throttle_mix_min(), parameter_sanity_check(), and set_throttle_mix_min().

◆ var_info

const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info

static

Definition at line 82 of file AC_AttitudeControl_Multi.h.

Referenced by AC_AttitudeControl_Multi().

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

libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AC_AttitudeControl_Multi()

◆ ~AC_AttitudeControl_Multi()

Member Function Documentation

◆ get_rate_pitch_pid()

◆ get_rate_roll_pid()

◆ get_rate_yaw_pid()

◆ get_throttle_avg_max()

◆ get_throttle_boosted()

◆ get_throttle_mix()

◆ is_throttle_mix_min()

◆ parameter_sanity_check()

◆ rate_controller_run()

◆ set_throttle_mix_man()

◆ set_throttle_mix_max()

◆ set_throttle_mix_min()

◆ set_throttle_mix_value()

◆ set_throttle_out()

◆ update_althold_lean_angle_max()

◆ update_throttle_rpy_mix()

Member Data Documentation

◆ _motors_multi

◆ _pid_rate_pitch

◆ _pid_rate_roll

◆ _pid_rate_yaw

◆ _thr_mix_man

◆ _thr_mix_max

◆ _thr_mix_min

◆ var_info