AC_AttitudeControl: add input_ prefix to input shaper functions

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -91,7 +91,7 @@ void AC_AttitudeControl::shift_ef_yaw_target(float yaw_shift_cd)
     _att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + radians(yaw_shift_cd*0.01f));
 }
 
-void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain)
+void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain)
 {
     // Convert from centidegrees on public interface to radians
     float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@@ -180,7 +180,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float eule
     _ang_vel_target_rads += _att_target_ang_vel_rads;
 }
 
-void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds)
+void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds)
 {
     // Convert from centidegrees on public interface to radians
     float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@@ -235,7 +235,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_
     _ang_vel_target_rads += _att_target_ang_vel_rads;
 }
 
-void AC_AttitudeControl::euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw)
+void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw)
 {
     // Convert from centidegrees on public interface to radians
     float euler_roll_angle_rad = radians(euler_roll_angle_cd*0.01f);
@@ -274,7 +274,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, f
     ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads);
 }
 
-void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)
+void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)
 {
     // Convert from centidegrees on public interface to radians
     float euler_roll_rate_rads = radians(euler_roll_rate_cds*0.01f);
@@ -331,7 +331,7 @@ void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, fl
     _ang_vel_target_rads += _att_target_ang_vel_rads;
 }
 
-void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
+void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
 {
     // Convert from centidegrees on public interface to radians
     float roll_rate_bf_rads = radians(roll_rate_bf_cds*0.01f);

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -114,19 +114,19 @@ public:
     void shift_ef_yaw_target(float yaw_shift_cd);
 
     // Command an euler roll and pitch angle and an euler yaw rate with angular velocity feedforward and smoothing
-    void euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain);
+    void input_euler_angle_roll_pitch_euler_rate_yaw_smooth(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds, float smoothing_gain);
 
     // Command an euler roll and pitch angle and an euler yaw rate
-    void euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds);
+    void input_euler_angle_roll_pitch_euler_rate_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_rate_cds);
 
     // Command an euler roll, pitch and yaw angle
-    void euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_ef_cd, float euler_yaw_angle_cd, bool slew_yaw);
+    void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_ef_cd, float euler_yaw_angle_cd, bool slew_yaw);
 
     // Command an euler roll, pitch, and yaw rate
-    void euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds);
+    void input_euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds);
 
     // Command an angular velocity
-    virtual void rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
+    virtual void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds);
 
     // Run angular velocity controller and send outputs to the motors
     virtual void rate_controller_run();

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

@@ -94,11 +94,11 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
 }
 
 // subclass non-passthrough too, for external gyro, no flybar
-void AC_AttitudeControl_Heli::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf)
+void AC_AttitudeControl_Heli::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds)
 {
-    _passthrough_yaw = yaw_rate_bf;
+    _passthrough_yaw = yaw_rate_bf_cds;
 
-    AC_AttitudeControl::rate_bf_roll_pitch_yaw(roll_rate_bf, pitch_rate_bf, yaw_rate_bf);
+    AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(roll_rate_bf_cds, pitch_rate_bf_cds, yaw_rate_bf_cds);
 }
 
 //

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -49,8 +49,8 @@ public:
     // passthrough_bf_roll_pitch_rate_yaw - roll and pitch are passed through directly, body-frame rate target for yaw
     void passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds);
 
-	// subclass non-passthrough too, for external gyro, no flybar
-	void rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_rate_bf, float yaw_rate_bf) override;
+    // subclass non-passthrough too, for external gyro, no flybar
+    void input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, float pitch_rate_bf_cds, float yaw_rate_bf_cds) override;
 
 	// rate_controller_run - run lowest level body-frame rate controller and send outputs to the motors
 	// should be called at 100hz or more