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Copter: use attitude control base class #25224

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merged 2 commits into from
Dec 4, 2023
Merged

Copter: use attitude control base class #25224

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a0a113c
AP_CustomControl: use base class AC_AttitudeControl object
IamPete1 Jul 19, 2023
b099c30
Copter: use base class AC_AttitudeControl object
IamPete1 Jul 19, 2023
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9 changes: 2 additions & 7 deletions ArduCopter/Copter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,12 +77,6 @@
#include "defines.h"
#include "config.h"

#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif

#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
Expand Down Expand Up @@ -485,7 +479,8 @@ class Copter : public AP_Vehicle {

// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_t *attitude_control;
AC_AttitudeControl *attitude_control;
const struct AP_Param::GroupInfo *attitude_control_var_info;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;
AC_Loiter *loiter_nav;
Expand Down
6 changes: 1 addition & 5 deletions ArduCopter/Parameters.cpp
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Expand Up @@ -498,11 +498,7 @@ const AP_Param::Info Copter::var_info[] = {

// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
#if FRAME_CONFIG == HELI_FRAME
GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
#else
GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
#endif
GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),

// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
Expand Down
2 changes: 1 addition & 1 deletion ArduCopter/mode.h
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Expand Up @@ -241,7 +241,7 @@ class Mode {
AC_PosControl *&pos_control;
AP_InertialNav &inertial_nav;
AP_AHRS &ahrs;
AC_AttitudeControl_t *&attitude_control;
AC_AttitudeControl *&attitude_control;
MOTOR_CLASS *&motors;
RC_Channel *&channel_roll;
RC_Channel *&channel_pitch;
Expand Down
10 changes: 4 additions & 6 deletions ArduCopter/system.cpp
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Expand Up @@ -444,26 +444,24 @@ void Copter::allocate_motors(void)
AP_BoardConfig::allocation_error("AP_AHRS_View");
}

const struct AP_Param::GroupInfo *ac_var_info;

#if FRAME_CONFIG != HELI_FRAME
if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
#if AP_SCRIPTING_ENABLED
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
#endif // AP_SCRIPTING_ENABLED
} else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi::var_info;
attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
}
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Heli::var_info;
attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
AP_BoardConfig::allocation_error("AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info);

pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (pos_control == nullptr) {
Expand Down
2 changes: 1 addition & 1 deletion libraries/AC_CustomControl/AC_CustomControl.cpp
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Expand Up @@ -38,7 +38,7 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {

const struct AP_Param::GroupInfo *AC_CustomControl::_backend_var_info[CUSTOMCONTROL_MAX_TYPES];

AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
_dt(dt),
_ahrs(ahrs),
_att_control(att_control),
Expand Down
6 changes: 3 additions & 3 deletions libraries/AC_CustomControl/AC_CustomControl.h
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Expand Up @@ -6,7 +6,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_AHRS/AP_AHRS_View.h>
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h>
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AP_Motors/AP_MotorsMulticopter.h>
#include <AP_Logger/AP_Logger.h>

Expand All @@ -20,7 +20,7 @@ class AC_CustomControl_Backend;

class AC_CustomControl {
public:
AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& _att_control, AP_MotorsMulticopter*& motors, float dt);
AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& _att_control, AP_MotorsMulticopter*& motors, float dt);

CLASS_NO_COPY(AC_CustomControl); /* Do not allow copies */

Expand Down Expand Up @@ -62,7 +62,7 @@ class AC_CustomControl {

// References to external libraries
AP_AHRS_View*& _ahrs;
AC_AttitudeControl_Multi*& _att_control;
AC_AttitudeControl*& _att_control;
AP_MotorsMulticopter*& _motors;

AP_Enum<CustomControlType> _controller_type;
Expand Down
4 changes: 2 additions & 2 deletions libraries/AC_CustomControl/AC_CustomControl_Backend.h
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Expand Up @@ -7,7 +7,7 @@
class AC_CustomControl_Backend
{
public:
AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
_frontend(frontend),
_ahrs(ahrs),
_att_control(att_control),
Expand All @@ -29,7 +29,7 @@ class AC_CustomControl_Backend
protected:
// References to external libraries
AP_AHRS_View*& _ahrs;
AC_AttitudeControl_Multi*& _att_control;
AC_AttitudeControl*& _att_control;
AP_MotorsMulticopter*& _motors;
AC_CustomControl& _frontend;
};
Expand Down
2 changes: 1 addition & 1 deletion libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
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Expand Up @@ -28,7 +28,7 @@ const AP_Param::GroupInfo AC_CustomControl_Empty::var_info[] = {
};

// initialize in the constructor
AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)
{
AP_Param::setup_object_defaults(this, var_info);
Expand Down
2 changes: 1 addition & 1 deletion libraries/AC_CustomControl/AC_CustomControl_Empty.h
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Expand Up @@ -10,7 +10,7 @@

class AC_CustomControl_Empty : public AC_CustomControl_Backend {
public:
AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);


Vector3f update(void) override;
Expand Down
3 changes: 2 additions & 1 deletion libraries/AC_CustomControl/AC_CustomControl_PID.cpp
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@@ -1,4 +1,5 @@
#include "AC_CustomControl_PID.h"
#include "AC_AttitudeControl/AC_AttitudeControl_Multi.h"
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This is needed because the same default defines are used for PID gains.


#if CUSTOMCONTROL_PID_ENABLED

Expand Down Expand Up @@ -315,7 +316,7 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
AP_GROUPEND
};

AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt),
_p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
_p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
Expand Down
2 changes: 1 addition & 1 deletion libraries/AC_CustomControl/AC_CustomControl_PID.h
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Expand Up @@ -15,7 +15,7 @@

class AC_CustomControl_PID : public AC_CustomControl_Backend {
public:
AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);

// run lowest level body-frame rate controller and send outputs to the motors
Vector3f update() override;
Expand Down