Copter: Moved get_pilot_desired_lean_angles to mode.cpp

ArduCopter/Attitude.cpp

@@ -7,37 +7,6 @@ float Copter::get_smoothing_gain()
     return (2.0f + (float)g.rc_feel_rp/10.0f);
 }
 
-// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
-// returns desired angle in centi-degrees
-void Copter::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
-{
-    // sanity check angle max parameter
-    aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
-
-    // limit max lean angle
-    angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
-
-    // scale roll_in, pitch_in to ANGLE_MAX parameter range
-    float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
-    roll_in *= scaler;
-    pitch_in *= scaler;
-
-    // do circular limit
-    float total_in = norm(pitch_in, roll_in);
-    if (total_in > angle_max) {
-        float ratio = angle_max / total_in;
-        roll_in *= ratio;
-        pitch_in *= ratio;
-    }
-
-    // do lateral tilt to euler roll conversion
-    roll_in = (18000/M_PI) * atanf(cosf(pitch_in*(M_PI/18000))*tanf(roll_in*(M_PI/18000)));
-
-    // return
-    roll_out = roll_in;
-    pitch_out = pitch_in;
-}
-
 // get_pilot_desired_heading - transform pilot's yaw input into a
 // desired yaw rate
 // returns desired yaw rate in centi-degrees per second

ArduCopter/Copter.h

@@ -177,6 +177,7 @@ public:
     friend class Parameters;
     friend class ParametersG2;
     friend class AP_Avoidance_Copter;
+    friend class Mode;
 #if ADVANCED_FAILSAFE == ENABLED
     friend class AP_AdvancedFailsafe_Copter;
 #endif
@@ -658,7 +659,6 @@ private:
 
     // Attitude.cpp
     float get_smoothing_gain();
-    void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
     float get_roi_yaw();
     float get_look_ahead_yaw();

ArduCopter/mode.cpp

@@ -345,14 +345,41 @@ void Copter::Mode::zero_throttle_and_relax_ac()
 #endif
 }
 
+// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
+// returns desired angle in centi-degrees
+void Copter::Mode::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
+{
+	AP_Vehicle::MultiCopter &aparm = copter.aparm;
+	// sanity check angle max parameter
+	aparm.angle_max = constrain_int16(aparm.angle_max,1000,8000);
+
+	// limit max lean angle
+	angle_max = constrain_float(angle_max, 1000, aparm.angle_max);
+
+	// scale roll_in, pitch_in to ANGLE_MAX parameter range
+	float scaler = aparm.angle_max/(float)ROLL_PITCH_YAW_INPUT_MAX;
+	roll_in *= scaler;
+	pitch_in *= scaler;
+
+	// do circular limit
+	float total_in = norm(pitch_in, roll_in);
+	if (total_in > angle_max) {
+		float ratio = angle_max / total_in;
+		roll_in *= ratio;
+		pitch_in *= ratio;
+	}
+
+	// do lateral tilt to euler roll conversion
+	roll_in = (18000/M_PI) * atanf(cosf(pitch_in*(M_PI/18000))*tanf(roll_in*(M_PI/18000)));
+
+	// return
+	roll_out = roll_in;
+	pitch_out = pitch_in;
+}
 
 // pass-through functions to reduce code churn on conversion;
 // these are candidates for moving into the Mode base
 // class.
-void Copter::Mode::get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max)
-{
-    copter.get_pilot_desired_lean_angles(roll_in, pitch_in, roll_out, pitch_out, angle_max);
-}
 
 float Copter::Mode::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
 {

ArduCopter/mode.h

@@ -69,10 +69,12 @@ protected:
     heli_flags_t &heli_flags;
 #endif
 
+    // mode.cpp
+    void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
+
     // pass-through functions to reduce code churn on conversion;
     // these are candidates for moving into the Mode base
     // class.
-    void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
     float get_pilot_desired_climb_rate(float throttle_control);

ArduCopter/mode_flowhold.cpp

@@ -267,7 +267,7 @@ void Copter::ModeFlowHold::run()
     int16_t roll_in = copter.channel_roll->get_control_in();
     int16_t pitch_in = copter.channel_pitch->get_control_in();
     float angle_max = copter.attitude_control->get_althold_lean_angle_max();
-    copter.get_pilot_desired_lean_angles(roll_in, pitch_in,
+    get_pilot_desired_lean_angles(roll_in, pitch_in,
                                          bf_angles.x, bf_angles.y,
                                          angle_max);