Copter: integrate smoothing gain into flight modes

ArduCopter/control_althold.pde

@@ -7,9 +7,6 @@
 // althold_init - initialise althold controller
 static bool althold_init(bool ignore_checks)
 {
-    // initialise filters on roll/pitch input
-    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
-
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
     return true;
@@ -59,7 +56,7 @@ static void althold_run()
         attitude_control.set_throttle_out(0, false);
     }else{
         // call attitude controller
-        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
         // body-frame rate controller is run directly from 100hz loop
 
         // call throttle controller

ArduCopter/control_autotune.pde

@@ -192,9 +192,6 @@ static bool autotune_init(bool ignore_checks)
         return false;
     }
 
-    // initialise filters on roll/pitch input
-    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
-
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
     return true;
@@ -264,7 +261,7 @@ static void autotune_run()
 
         // if pilot override call attitude controller
         if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {
-            attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+            attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
         }else{
             // somehow get attitude requests from autotuning
             autotune_attitude_control();

ArduCopter/control_drift.pde

@@ -12,8 +12,6 @@
 static bool drift_init(bool ignore_checks)
 {
     if (GPS_ok() || ignore_checks) {
-        // initialise filters on roll/pitch input
-        reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
         return true;
     }else{
         return false;
@@ -71,7 +69,7 @@ static void drift_run()
     }
 
     // call attitude controller
-    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
     // output pilot's throttle with angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, true);

ArduCopter/control_land.pde

@@ -16,9 +16,6 @@ static bool land_init(bool ignore_checks)
         wp_nav.set_loiter_target(stopping_point);
     }
 
-    // initialise filters on roll/pitch input
-    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
-
     // initialise altitude target to stopping point
     pos_control.set_target_to_stopping_point_z();
     return true;
@@ -129,7 +126,7 @@ static void land_nogps_run()
     }
 
     // call attitude controller
-    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
     // call position controller
     pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);

ArduCopter/control_ofloiter.pde

@@ -9,8 +9,6 @@ static bool ofloiter_init(bool ignore_checks)
 {
 #if OPTFLOW == ENABLED
     if (g.optflow_enabled || ignore_checks) {
-        // initialise filters on roll/pitch input
-        reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
         return true;
     }else{
         return false;
@@ -70,7 +68,7 @@ static void ofloiter_run()
         target_pitch = get_of_pitch(target_pitch);
 
         // call attitude controller
-        attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
         // run altitude controller
         if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {

ArduCopter/control_stabilize.pde

@@ -7,9 +7,6 @@
 // stabilize_init - initialise stabilize controller
 static bool stabilize_init(bool ignore_checks)
 {
-    // initialise filters on roll/pitch input
-    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
-
     // set target altitude to zero for reporting
     // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
     pos_control.set_alt_target(0);
@@ -51,7 +48,7 @@ static void stabilize_run()
         attitude_control.init_targets();
     }else{
         // call attitude controller
-        attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, g.rc_feel_rp);
+        attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
         // body-frame rate controller is run directly from 100hz loop
     }

ArduCopter/heli_control_stabilize.pde

@@ -7,9 +7,6 @@
 // stabilize_init - initialise stabilize controller
 static bool heli_stabilize_init(bool ignore_checks)
 {
-    // initialise filters on roll/pitch input
-    reset_roll_pitch_in_filters(g.rc_1.control_in, g.rc_2.control_in);
-
     // set target altitude to zero for reporting
     // To-Do: make pos controller aware when it's active/inactive so it can always report the altitude error?
     pos_control.set_alt_target(0);
@@ -40,7 +37,7 @@ static void heli_stabilize_run()
     pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
 
     // call attitude controller
-    attitude_control.angle_ef_roll_pitch_rate_ef_yaw(target_roll, target_pitch, target_yaw_rate);
+    attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
     // output pilot's throttle - note that TradHeli does not used angle-boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false);