AC_AttitudeControl: Add conversions from cd to rad #30120
+82
−9
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
rmackay9
reviewed
May 21, 2025
|
|
||
| input_euler_rate_roll_pitch_yaw_rads(euler_roll_rate_rads, euler_pitch_rate_rads, euler_yaw_rate_rads); | ||
| } | ||
|
|
There was a problem hiding this comment.
maybe put a comment above this new method
rmackay9
reviewed
May 21, 2025
rmackay9
reviewed
May 21, 2025
lthall
force-pushed
the
20250520_ACAttitudeConrol_Interface
branch
2 times, most recently
from
de4517a to
ad6479a
Compare
lthall
force-pushed
the
20250520_ACAttitudeConrol_Interface
branch
2 times, most recently
from
80ad123 to
afcbb93
Compare
|
instead of using "* radians(0.01)" I'd prefer we create a new method called something like, "radians_from_cd(x)" |
|
@rmackay9 maybe cd_to_rad() ? |
IamPete1
reviewed
May 26, 2025
| @@ -203,40 +203,51 @@ class AC_AttitudeControl { | |||
|
|
|||
| // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing | |||
| virtual void input_euler_angle_roll_pitch_euler_rate_yaw_cd(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds); | |||
There was a problem hiding this comment.
The wrapper functions don't need to be virtual.
tridge
requested changes
May 26, 2025
ArduCopter/mode.cpp
Outdated
| @@ -768,7 +768,7 @@ void Mode::land_run_horizontal_control() | |||
| // interpolate for 1m above that | |||
| const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(), | |||
| g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U); | |||
| const float thrust_vector_max = sinf(radians(attitude_limit_cd * 0.01f)) * GRAVITY_MSS * 100.0f; | |||
| const float thrust_vector_max = sinf(attitude_limit_cd * radians(0.01f)) * GRAVITY_MSS * 100.0f; | |||
There was a problem hiding this comment.
I would strongly prefer a cd_to_rad() function or similar
There was a problem hiding this comment.
IMHO cdeg_to_rad would be more readable.
lthall
force-pushed
the
20250520_ACAttitudeConrol_Interface
branch
from
afcbb93 to
dbb577d
Compare
lthall
force-pushed
the
20250520_ACAttitudeConrol_Interface
branch
from
dbb577d to
ad922f7
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds radian (_rad, _rads) variants of all input_XXX rate and attitude commands in AC_AttitudeControl. These functions mirror the existing centidegree-based (_cd, _cds) methods, enabling direct use of SI units or the addition of degrees.
This does add size:
After AC_AttitudeControl: Add conversions from cd to rad