Copter: use new throttle interface

ArduCopter/control_acro.pde

@@ -20,9 +20,7 @@ static void acro_run()
 
     // if motors not running reset angle targets
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         return;
     }
 

ArduCopter/control_althold.pde

@@ -27,9 +27,7 @@ static void althold_run()
 
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }
@@ -57,10 +55,7 @@ static void althold_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
+        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
         pos_control.set_alt_target_to_current_alt();
     }else{
         // call attitude controller

ArduCopter/control_auto.pde

@@ -114,9 +114,7 @@ static void auto_takeoff_run()
         // initialise wpnav targets
         wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // tell motors to do a slow start
         motors.slow_start(true);
         return;
@@ -162,9 +160,7 @@ static void auto_wp_run()
     if(!ap.auto_armed) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // tell motors to do a slow start
         motors.slow_start(true);
         return;
@@ -220,9 +216,7 @@ static void auto_spline_run()
     if(!ap.auto_armed) {
         // To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // tell motors to do a slow start
         motors.slow_start(true);
         return;
@@ -289,9 +283,7 @@ static void auto_land_run()
 
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // set target to current position
         wp_nav.init_loiter_target();
         return;
@@ -457,9 +449,7 @@ void auto_loiter_run()
 {
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         return;
     }
 

ArduCopter/control_autotune.pde

@@ -263,9 +263,7 @@ static void autotune_run()
     // if not auto armed set throttle to zero and exit immediately
     // this should not actually be possible because of the autotune_init() checks
     if (!ap.auto_armed) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }
@@ -292,10 +290,8 @@ static void autotune_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
+        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
         pos_control.set_alt_target_to_current_alt();
     }else{
         // check if pilot is overriding the controls

ArduCopter/control_circle.pde

@@ -35,9 +35,7 @@ static void circle_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         // To-Do: add some initialisation of position controllers
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }

ArduCopter/control_drift.pde

@@ -48,9 +48,7 @@ static void drift_run()
 
     // if not armed or landed and throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || (ap.land_complete && ap.throttle_zero)) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         return;
     }
 

ArduCopter/control_flip.pde

@@ -218,5 +218,9 @@ static void flip_run()
     }
 
     // output pilot's throttle without angle boost
-    attitude_control.set_throttle_out(throttle_out, false);
+    if (throttle_out == 0.0f) {
+        attitude_control.set_throttle_out_unstabilized(0,false);
+    } else {
+        attitude_control.set_throttle_out(throttle_out, false);
+    }
 }

ArduCopter/control_guided.pde

@@ -161,9 +161,7 @@ static void guided_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // To-Do: reset waypoint controller?
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
         return;
     }
@@ -202,9 +200,7 @@ static void guided_takeoff_run()
         // initialise wpnav targets
         wp_nav.shift_wp_origin_to_current_pos();
         // reset attitude control targets
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // tell motors to do a slow start
         motors.slow_start(true);
         return;

ArduCopter/control_land.pde

@@ -52,9 +52,7 @@ static void land_gps_run()
 
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         wp_nav.init_loiter_target();
 
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
@@ -127,9 +125,7 @@ static void land_nogps_run()
 
     // if not auto armed or landed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
 #if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
         // disarm when the landing detector says we've landed and throttle is at minimum
         if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {

ArduCopter/control_loiter.pde

@@ -35,9 +35,7 @@ static void loiter_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         wp_nav.init_loiter_target();
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }
@@ -76,10 +74,8 @@ static void loiter_run()
     // when landed reset targets and output zero throttle
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
+        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
         pos_control.set_alt_target_to_current_alt();
     }else{
         // run loiter controller

ArduCopter/control_poshold.pde

@@ -156,9 +156,7 @@ static void poshold_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         wp_nav.init_loiter_target();
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }
@@ -191,10 +189,8 @@ static void poshold_run()
     // if landed initialise loiter targets, set throttle to zero and exit
     if (ap.land_complete) {
         wp_nav.init_loiter_target();
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
+        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }else{

ArduCopter/control_rtl.pde

@@ -134,9 +134,7 @@ static void rtl_climb_return_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // reset attitude control targets
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // To-Do: re-initialise wpnav targets
         return;
     }
@@ -192,9 +190,7 @@ static void rtl_loiterathome_run()
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
         // reset attitude control targets
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // To-Do: re-initialise wpnav targets
         return;
     }
@@ -263,9 +259,7 @@ static void rtl_descent_run()
 
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // set target to current position
         wp_nav.init_loiter_target();
         return;
@@ -327,9 +321,7 @@ static void rtl_land_run()
     float target_yaw_rate = 0;
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         // set target to current position
         wp_nav.init_loiter_target();
 

ArduCopter/control_sport.pde

@@ -26,9 +26,7 @@ static void sport_run()
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         pos_control.set_alt_target_to_current_alt();
         return;
     }
@@ -77,10 +75,8 @@ static void sport_run()
 
     // reset target lean angles and heading while landed
     if (ap.land_complete) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
         // move throttle to between minimum and non-takeoff-throttle to keep us on the ground
-        attitude_control.set_throttle_out(get_throttle_pre_takeoff(g.rc_3.control_in), false);
+        attitude_control.set_throttle_out_unstabilized(get_throttle_pre_takeoff(g.rc_3.control_in),true);
         pos_control.set_alt_target_to_current_alt();
     }else{
 

ArduCopter/control_stabilize.pde

@@ -25,9 +25,7 @@ static void stabilize_run()
 
     // if not armed or throttle at zero, set throttle to zero and exit immediately
     if(!motors.armed() || g.rc_3.control_in <= 0) {
-        attitude_control.relax_bf_rate_controller();
-        attitude_control.set_yaw_target_to_current_heading();
-        attitude_control.set_throttle_out(0, false);
+        attitude_control.set_throttle_out_unstabilized(0,true);
         return;
     }