AC_AttitudeControl: correct bugs found in review

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -122,7 +122,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float eule
         // When acceleration limiting and feedforward are not enabled, the target roll euler angle is simply set to the
         // input value and the feedforward rate is zeroed.
         _att_target_euler_rad.x = euler_roll_angle_rad;
-        att_error_euler_rad.x = wrap_180_cd_float(_att_target_euler_rad.x - _ahrs.roll);
+        att_error_euler_rad.x = wrap_PI(_att_target_euler_rad.x - _ahrs.roll);
         _att_target_euler_deriv_rads.x = 0;
     }
     _att_target_euler_rad.x = constrain_float(_att_target_euler_rad.x, -get_tilt_limit_rad(), get_tilt_limit_rad());
@@ -141,7 +141,7 @@ void AC_AttitudeControl::euler_angle_roll_pitch_euler_rate_yaw_smooth(float eule
         update_att_target_and_error_pitch(_att_target_euler_deriv_rads.y, att_error_euler_rad, AC_ATTITUDE_RATE_STAB_ROLL_OVERSHOOT_ANGLE_MAX_RAD);
     } else {
         _att_target_euler_rad.y = euler_pitch_angle_rad;
-        att_error_euler_rad.y = wrap_180_cd_float(_att_target_euler_rad.y - _ahrs.pitch);
+        att_error_euler_rad.y = wrap_PI(_att_target_euler_rad.y - _ahrs.pitch);
         _att_target_euler_deriv_rads.y = 0;
     }
     _att_target_euler_rad.y = constrain_float(_att_target_euler_rad.y, -get_tilt_limit_rad(), get_tilt_limit_rad());

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -204,7 +204,7 @@ public:
     virtual float get_althold_lean_angle_max() const = 0;
 
     // Return configured tilt angle limit in centidegrees/s
-    int16_t lean_angle_max() const { return _aparm.angle_max; }
+    float lean_angle_max() const { return _aparm.angle_max; }
 
     // Proportional controller with piecewise sqrt sections to constrain second derivative
     static float sqrt_controller(float error, float p, float second_ord_lim);
@@ -242,7 +242,7 @@ protected:
 
     // Return angle in radians to be added to roll angle. Used by heli to counteract
     // tail rotor thrust in hover. Overloaded by AC_Attitude_Heli to return angle.
-    virtual int16_t get_roll_trim_rad() { return 0;}
+    virtual float get_roll_trim_rad() { return 0;}
 
     // Return the roll axis acceleration limit in radians/s/s
     float get_accel_roll_max_radss() { return radians(_accel_roll_max*0.01f); }

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -115,7 +115,7 @@ private:
     int16_t _passthrough_yaw;
 
     // get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
-    int16_t get_roll_trim_rad() { return radians(constrain_int16(_hover_roll_trim_scalar * _hover_roll_trim, -1000, 1000)*0.01f);}
+    float get_roll_trim_rad() { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));}
 
     // internal variables
     float _hover_roll_trim_scalar = 0;              // scalar used to suppress Hover Roll Trim