AC_AutoTune: Add units to the AC_AttitudeControl Library

libraries/AC_AutoTune/AC_AutoTune.cpp

@@ -932,11 +932,11 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
     orig_roll_fltt = attitude_control->get_rate_roll_pid().filt_T_hz();
     orig_roll_sp = attitude_control->get_angle_roll_p().kP();
-    orig_roll_accel = attitude_control->get_accel_roll_max();
+    orig_roll_accel = attitude_control->get_accel_roll_max_cdss();
     tune_roll_rp = attitude_control->get_rate_roll_pid().kP();
     tune_roll_rd = attitude_control->get_rate_roll_pid().kD();
     tune_roll_sp = attitude_control->get_angle_roll_p().kP();
-    tune_roll_accel = attitude_control->get_accel_roll_max();
+    tune_roll_accel = attitude_control->get_accel_roll_max_cdss();
 
     orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
     orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
@@ -944,11 +944,11 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
     orig_pitch_fltt = attitude_control->get_rate_pitch_pid().filt_T_hz();
     orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
-    orig_pitch_accel = attitude_control->get_accel_pitch_max();
+    orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss();
     tune_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
     tune_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
     tune_pitch_sp = attitude_control->get_angle_pitch_p().kP();
-    tune_pitch_accel = attitude_control->get_accel_pitch_max();
+    tune_pitch_accel = attitude_control->get_accel_pitch_max_cdss();
 
     orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
     orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
@@ -956,12 +956,12 @@ void AC_AutoTune::backup_gains_and_initialise()
     orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
     orig_yaw_fltt = attitude_control->get_rate_yaw_pid().filt_T_hz();
     orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
-    orig_yaw_accel = attitude_control->get_accel_yaw_max();
+    orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
     orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
     tune_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
     tune_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
     tune_yaw_sp = attitude_control->get_angle_yaw_p().kP();
-    tune_yaw_accel = attitude_control->get_accel_yaw_max();
+    tune_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
 
     AP::logger().Write_Event(LogEvent::AUTOTUNE_INITIALISED);
 }
@@ -979,7 +979,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
             attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
             attitude_control->get_angle_roll_p().kP(orig_roll_sp);
-            attitude_control->set_accel_roll_max(orig_roll_accel);
+            attitude_control->set_accel_roll_max_cdss(orig_roll_accel);
         }
     }
     if (pitch_enabled()) {
@@ -990,7 +990,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
             attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
             attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
-            attitude_control->set_accel_pitch_max(orig_pitch_accel);
+            attitude_control->set_accel_pitch_max_cdss(orig_pitch_accel);
         }
     }
     if (yaw_enabled()) {
@@ -1002,7 +1002,7 @@ void AC_AutoTune::load_orig_gains()
             attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
             attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
             attitude_control->get_angle_yaw_p().kP(orig_yaw_sp);
-            attitude_control->set_accel_yaw_max(orig_yaw_accel);
+            attitude_control->set_accel_yaw_max_cdss(orig_yaw_accel);
         }
     }
 }
@@ -1012,8 +1012,8 @@ void AC_AutoTune::load_tuned_gains()
 {
     if (!attitude_control->get_bf_feedforward()) {
         attitude_control->bf_feedforward(true);
-        attitude_control->set_accel_roll_max(0.0f);
-        attitude_control->set_accel_pitch_max(0.0f);
+        attitude_control->set_accel_roll_max_cdss(0.0f);
+        attitude_control->set_accel_pitch_max_cdss(0.0f);
     }
     if (roll_enabled()) {
         if (!is_zero(tune_roll_rp)) {
@@ -1022,7 +1022,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
             attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
             attitude_control->get_angle_roll_p().kP(tune_roll_sp);
-            attitude_control->set_accel_roll_max(tune_roll_accel);
+            attitude_control->set_accel_roll_max_cdss(tune_roll_accel);
         }
     }
     if (pitch_enabled()) {
@@ -1032,7 +1032,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
             attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
             attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
-            attitude_control->set_accel_pitch_max(tune_pitch_accel);
+            attitude_control->set_accel_pitch_max_cdss(tune_pitch_accel);
         }
     }
     if (yaw_enabled()) {
@@ -1043,7 +1043,7 @@ void AC_AutoTune::load_tuned_gains()
             attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
             attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
             attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
-            attitude_control->set_accel_yaw_max(tune_yaw_accel);
+            attitude_control->set_accel_yaw_max_cdss(tune_yaw_accel);
         }
     }
 }
@@ -1147,8 +1147,8 @@ void AC_AutoTune::save_tuning_gains()
 
     if (!attitude_control->get_bf_feedforward()) {
         attitude_control->bf_feedforward_save(true);
-        attitude_control->save_accel_roll_max(0.0f);
-        attitude_control->save_accel_pitch_max(0.0f);
+        attitude_control->save_accel_roll_max_cdss(0.0f);
+        attitude_control->save_accel_pitch_max_cdss(0.0f);
     }
 
     // sanity check the rate P values
@@ -1166,7 +1166,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_angle_roll_p().save_gains();
 
         // acceleration roll
-        attitude_control->save_accel_roll_max(tune_roll_accel);
+        attitude_control->save_accel_roll_max_cdss(tune_roll_accel);
 
         // resave pids to originals in case the autotune is run again
         orig_roll_rp = attitude_control->get_rate_roll_pid().kP();
@@ -1174,7 +1174,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
         orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
         orig_roll_sp = attitude_control->get_angle_roll_p().kP();
-        orig_roll_accel = attitude_control->get_accel_roll_max();
+        orig_roll_accel = attitude_control->get_accel_roll_max_cdss();
     }
 
     if ((axes_completed & AUTOTUNE_AXIS_BITMASK_PITCH) && pitch_enabled() && !is_zero(tune_pitch_rp)) {
@@ -1191,7 +1191,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_angle_pitch_p().save_gains();
 
         // acceleration pitch
-        attitude_control->save_accel_pitch_max(tune_pitch_accel);
+        attitude_control->save_accel_pitch_max_cdss(tune_pitch_accel);
 
         // resave pids to originals in case the autotune is run again
         orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP();
@@ -1199,7 +1199,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
         orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
         orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
-        orig_pitch_accel = attitude_control->get_accel_pitch_max();
+        orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss();
     }
 
     if ((axes_completed & AUTOTUNE_AXIS_BITMASK_YAW) && yaw_enabled() && !is_zero(tune_yaw_rp)) {
@@ -1217,7 +1217,7 @@ void AC_AutoTune::save_tuning_gains()
         attitude_control->get_angle_yaw_p().save_gains();
 
         // acceleration yaw
-        attitude_control->save_accel_yaw_max(tune_yaw_accel);
+        attitude_control->save_accel_yaw_max_cdss(tune_yaw_accel);
 
         // resave pids to originals in case the autotune is run again
         orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP();
@@ -1226,7 +1226,7 @@ void AC_AutoTune::save_tuning_gains()
         orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
         orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
         orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
-        orig_yaw_accel = attitude_control->get_accel_yaw_max();
+        orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
     }
 
     // update GCS and log save gains event