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AC_AttitudeControl: use AC_PID defaults to tidy rate Sub PID initialisation #28161

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AC_AttitudeControl: use AC_PID defaults to tidy rate Sub PID initialisation #28161

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5 changes: 1 addition & 4 deletions libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -336,10 +336,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {

AC_AttitudeControl_Sub::AC_AttitudeControl_Sub(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsMulticopter& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_motors_multi(motors),
_pid_rate_roll(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
_pid_rate_pitch(AC_ATC_SUB_RATE_RP_P, AC_ATC_SUB_RATE_RP_I, AC_ATC_SUB_RATE_RP_D, 0.0f, AC_ATC_SUB_RATE_RP_IMAX, AC_ATC_SUB_RATE_RP_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_RP_FILT_HZ),
_pid_rate_yaw(AC_ATC_SUB_RATE_YAW_P, AC_ATC_SUB_RATE_YAW_I, AC_ATC_SUB_RATE_YAW_D, 0.0f, AC_ATC_SUB_RATE_YAW_IMAX, AC_ATC_SUB_RATE_YAW_FILT_HZ, 0.0f, AC_ATC_SUB_RATE_YAW_FILT_HZ)
_motors_multi(motors)
{
AP_Param::setup_object_defaults(this, var_info);

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36 changes: 33 additions & 3 deletions libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,9 +83,39 @@ class AC_AttitudeControl_Sub : public AC_AttitudeControl {
float get_throttle_avg_max(float throttle_in);

AP_MotorsMulticopter& _motors_multi;
AC_PID _pid_rate_roll;
AC_PID _pid_rate_pitch;
AC_PID _pid_rate_yaw;

// Roll and Pitch rate PIDs share the same defaults:
const AC_PID::Defaults rp_defaults {
AC_PID::Defaults{
.p = AC_ATC_SUB_RATE_RP_P,
.i = AC_ATC_SUB_RATE_RP_I,
.d = AC_ATC_SUB_RATE_RP_D,
.ff = 0.0f,
.imax = AC_ATC_SUB_RATE_RP_IMAX,
.filt_T_hz = AC_ATC_SUB_RATE_RP_FILT_HZ,
.filt_E_hz = 0.0,
.filt_D_hz = AC_ATC_SUB_RATE_RP_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
};
AC_PID _pid_rate_roll { rp_defaults };
AC_PID _pid_rate_pitch { rp_defaults };

AC_PID _pid_rate_yaw {
AC_PID::Defaults{
.p = AC_ATC_SUB_RATE_YAW_P,
.i = AC_ATC_SUB_RATE_YAW_I,
.d = AC_ATC_SUB_RATE_YAW_D,
.ff = 0.0f,
.imax = AC_ATC_SUB_RATE_YAW_IMAX,
.filt_T_hz = AC_ATC_SUB_RATE_YAW_FILT_HZ,
.filt_E_hz = 0.0f,
.filt_D_hz = AC_ATC_SUB_RATE_YAW_FILT_HZ,
.srmax = 0,
.srtau = 1.0
}
};

AP_Float _thr_mix_man; // throttle vs attitude control prioritisation used when using manual throttle (higher values mean we prioritise attitude control over throttle)
AP_Float _thr_mix_min; // throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
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