AC_AttitudeControl: use AC_PID defaults to tidy heli rate PID initialisers

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

@@ -307,10 +307,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
 };
 
 AC_AttitudeControl_Heli::AC_AttitudeControl_Heli(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsHeli& motors) :
-    AC_AttitudeControl(ahrs, aparm, motors),
-    _pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
-    _pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
-    _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f)
+    AC_AttitudeControl(ahrs, aparm, motors)
 {
     AP_Param::setup_object_defaults(this, var_info);
 

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -150,8 +150,38 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
     // parameters
     AP_Int8         _piro_comp_enabled;             // Flybar present or not.  Affects attitude controller used during ACRO flight mode
     AP_Int16        _hover_roll_trim;               // Angle in centi-degrees used to counter tail rotor thrust in hover
-    AC_HELI_PID     _pid_rate_roll;
-    AC_HELI_PID     _pid_rate_pitch;
-    AC_HELI_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_HELI_RATE_RP_P,
+            .i         = AC_ATC_HELI_RATE_RP_I,
+            .d         = AC_ATC_HELI_RATE_RP_D,
+            .ff        = AC_ATC_HELI_RATE_RP_FF,
+            .imax      = AC_ATC_HELI_RATE_RP_IMAX,
+            .filt_T_hz = AC_ATTITUDE_HELI_RATE_RP_FF_FILTER,
+            .filt_E_hz = AC_ATC_HELI_RATE_RP_FILT_HZ,
+            .filt_D_hz = 0.0,
+            .srmax     = 0,
+            .srtau     = 1.0
+        }
+    };
+    AC_HELI_PID     _pid_rate_roll { rp_defaults };
+    AC_HELI_PID     _pid_rate_pitch { rp_defaults };
+
+    AC_HELI_PID     _pid_rate_yaw {
+        AC_PID::Defaults{
+            .p         = AC_ATC_HELI_RATE_YAW_P,
+            .i         = AC_ATC_HELI_RATE_YAW_I,
+            .d         = AC_ATC_HELI_RATE_YAW_D,
+            .ff        = AC_ATC_HELI_RATE_YAW_FF,
+            .imax      = AC_ATC_HELI_RATE_YAW_IMAX,
+            .filt_T_hz = AC_ATTITUDE_HELI_RATE_Y_FF_FILTER,
+            .filt_E_hz = AC_ATC_HELI_RATE_YAW_FILT_HZ,
+            .filt_D_hz = 0.0,
+            .srmax     = 0,
+            .srtau     = 1.0
+        }
+    };
 
 };

libraries/AC_PID/AC_HELI_PID.cpp

@@ -102,13 +102,6 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     AP_GROUPEND
 };
 
-/// Constructor for PID
-AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dff_val) :
-    AC_PID(initial_p, initial_i, initial_d, initial_ff, initial_imax, initial_filt_T_hz, initial_filt_E_hz, initial_filt_D_hz, dff_val)
-{
-    _last_requested_rate = 0;
-}
-
 // This is an integrator which tends to decay to zero naturally
 // if the error is zero.
 

libraries/AC_PID/AC_HELI_PID.h

@@ -16,11 +16,15 @@ static const float AC_PID_LEAK_MIN = 0.1f;  // Default I-term Leak Minimum
 class AC_HELI_PID : public AC_PID {
 public:
 
-    /// Constructor for PID
-    AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dff_val=0);
-
     CLASS_NO_COPY(AC_HELI_PID);
 
+    /// Constructor for PID
+    AC_HELI_PID(const AC_PID::Defaults &defaults) :
+        AC_PID{defaults}
+    {
+        _last_requested_rate = 0;
+    }
+
     /// update_leaky_i - replacement for get_i but output is leaked at leak_rate
     void       update_leaky_i(float leak_rate);