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AC_PosControl: minor formatting fixes

zr-v5.1
Leonard Hall 4 years ago committed by Andrew Tridgell
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772cec5101
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f24a0988f4
1 changed files with 23 additions and 23 deletions
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  1. 46
      libraries/AC_AttitudeControl/AC_PosControl.h

46
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -3,17 +3,17 @@ @@ -3,17 +3,17 @@
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_P.h> // P library
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_P_1D.h> // P library (1-axis)
#include <AC_PID/AC_P_2D.h> // P library (2-axis)
#include <AC_PID/AC_PI_2D.h> // PI library (2-axis)
#include <AC_PID/AC_PID_Basic.h> // PID library (1-axis)
#include <AC_PID/AC_PID_2D.h> // PID library (2-axis)
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
#include "AC_AttitudeControl.h" // Attitude control library
#include <AP_Motors/AP_Motors.h> // motors library
#include <AP_Vehicle/AP_Vehicle.h> // common vehicle parameters
#include <AC_PID/AC_P.h> // P library
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_P_1D.h> // P library (1-axis)
#include <AC_PID/AC_P_2D.h> // P library (2-axis)
#include <AC_PID/AC_PI_2D.h> // PI library (2-axis)
#include <AC_PID/AC_PID_Basic.h> // PID library (1-axis)
#include <AC_PID/AC_PID_2D.h> // PID library (2-axis)
#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
#include "AC_AttitudeControl.h" // Attitude control library
#include <AP_Motors/AP_Motors.h> // motors library
#include <AP_Vehicle/AP_Vehicle.h> // common vehicle parameters
// position controller default definitions
@ -386,10 +386,10 @@ protected: @@ -386,10 +386,10 @@ protected:
void check_for_ekf_z_reset();
// references to inertial nav and ahrs libraries
AP_AHRS_View & _ahrs;
const AP_InertialNav& _inav;
const AP_Motors& _motors;
AC_AttitudeControl& _attitude_control;
AP_AHRS_View& _ahrs;
const AP_InertialNav& _inav;
const AP_Motors& _motors;
AC_AttitudeControl& _attitude_control;
// parameters
AP_Float _accel_xy_filt_hz; // XY acceleration filter cutoff frequency
@ -418,17 +418,17 @@ protected: @@ -418,17 +418,17 @@ protected:
// output from controller
float _roll_target; // desired roll angle in centi-degrees calculated by position controller
float _pitch_target; // desired roll pitch in centi-degrees calculated by position controller
float _yaw_target; // desired yaw in centi-degrees calculated by position controller
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
float _yaw_target; // desired yaw in centi-degrees calculated by position controller
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
// position controller internal variables
Vector3f _pos_target; // target location in cm from home
Vector3f _vel_desired; // desired velocity in cm/s
Vector3f _vel_target; // velocity target in cm/s calculated by pos_to_rate step
Vector3f _pos_target; // target location in NEU cm from home
Vector3f _vel_desired; // desired velocity in NEU cm/s
Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step
Vector3f _vel_error; // error between desired and actual acceleration in cm/s
Vector3f _accel_desired; // desired acceleration in cm/s/s (feed forward)
Vector3f _accel_target; // acceleration target in cm/s/s
Vector3f _accel_error; // acceleration error in cm/s/s
Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward)
Vector3f _accel_target; // acceleration target in NEU cm/s/s
Vector3f _accel_error; // acceleration error in NEU cm/s/s
Vector2f _vehicle_horiz_vel; // velocity to use if _flags.vehicle_horiz_vel_override is set
LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error

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