int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
/* acro control scale */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
/* manual control scale */
param_get(_params_handles.man_roll_max, &_params.man_roll_max);
param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
_params.man_roll_max = math::radians(_params.man_roll_max);
_params.man_pitch_max = math::radians(_params.man_pitch_max);
_params.man_yaw_max = math::radians(_params.man_yaw_max);
return OK;
}
/*
* Attitude rates controller.
* Input: '_rates_sp' vector, '_thrust_sp'
* Output: '_att_control' vector
*/
void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed) {
_rates_int.zero();
}
/* current body angular rates */
math::Vector<3> rates;
rates(0) = _v_att.rollspeed;
rates(1) = _v_att.pitchspeed;
rates(2) = _v_att.yawspeed;
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int;
_rates_prev = rates;
/* update integral only if not saturated on low limit */
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
}
}
}
}
/*
* Attitude rates controller.
* Input: '_rates_sp' vector, '_thrust_sp'
* Output: '_att_control' vector
*/
void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed || !_vehicle_status.is_rotary_wing) {
_rates_int.zero();
}
/* current body angular rates */
math::Vector<3> rates;
rates(0) = _ctrl_state.roll_rate;
rates(1) = _ctrl_state.pitch_rate;
rates(2) = _ctrl_state.yaw_rate;
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int +
_params.rate_ff.emult(_rates_sp - _rates_sp_prev) / dt;
_rates_sp_prev = _rates_sp;
_rates_prev = rates;
/* update integral only if not saturated on low limit and if motor commands are not saturated */
if (_thrust_sp > MIN_TAKEOFF_THRUST && !_motor_limits.lower_limit && !_motor_limits.upper_limit) {
for (int i = 0; i < 3; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (PX4_ISFINITE(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
}
}
}
}
/*
* Attitude rates controller.
* Input: '_rates_sp' vector, '_thrust_sp'
* Output: '_att_control' vector
*/
void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed || !_vehicle_status.is_rotary_wing) {
_rates_int.zero();
}
/* current body angular rates */
math::Vector<3> rates;
rates(0) = _ctrl_state.roll_rate;
rates(1) = _ctrl_state.pitch_rate;
rates(2) = _ctrl_state.yaw_rate;
/* throttle pid attenuation factor */
float tpa = fmaxf(0.0f, fminf(1.0f, 1.0f - _params.tpa_slope * (fabsf(_v_rates_sp.thrust) - _params.tpa_breakpoint)));
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = _params.rate_p.emult(rates_err * tpa) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int +
_params.rate_ff.emult(_rates_sp);
_rates_sp_prev = _rates_sp;
_rates_prev = rates;
/* update integral only if not saturated on low limit and if motor commands are not saturated */
if (_thrust_sp > MIN_TAKEOFF_THRUST && !_motor_limits.lower_limit && !_motor_limits.upper_limit) {
for (int i = AXIS_INDEX_ROLL; i < AXIS_COUNT; i++) {
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (PX4_ISFINITE(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT &&
/* if the axis is the yaw axis, do not update the integral if the limit is hit */
!((i == AXIS_INDEX_YAW) && _motor_limits.yaw)) {
_rates_int(i) = rate_i;
}
}
}
}
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
/* pitch/roll P gains, throttle dependent */
param_get(_params_handles.pitchroll_rate_p10, &v);
for (int i=0; i<2; i++) _params.pitchroll_rate_p(i) = v;
param_get(_params_handles.pitchroll_rate_p20, &v);
_params.pitchroll_rate_p(2) = v;
param_get(_params_handles.pitchroll_rate_p30, &v);
_params.pitchroll_rate_p(3) = v;
param_get(_params_handles.pitchroll_rate_p40, &v);
_params.pitchroll_rate_p(4) = v;
param_get(_params_handles.pitchroll_rate_p50, &v);
_params.pitchroll_rate_p(5) = v;
param_get(_params_handles.pitchroll_rate_p60, &v);
_params.pitchroll_rate_p(6) = v;
param_get(_params_handles.pitchroll_rate_p70, &v);
_params.pitchroll_rate_p(7) = v;
param_get(_params_handles.pitchroll_rate_p80, &v);
_params.pitchroll_rate_p(8) = v;
param_get(_params_handles.pitchroll_rate_p90, &v);
_params.pitchroll_rate_p(9) = v;
_params.pitchroll_rate_p(10) = v;
/* pitch/roll D gains, throttle dependent */
param_get(_params_handles.pitchroll_rate_d10, &v);
for (int i=0; i<2; i++) _params.pitchroll_rate_d(i) = v;
param_get(_params_handles.pitchroll_rate_d20, &v);
_params.pitchroll_rate_d(2) = v;
param_get(_params_handles.pitchroll_rate_d30, &v);
_params.pitchroll_rate_d(3) = v;
param_get(_params_handles.pitchroll_rate_d40, &v);
_params.pitchroll_rate_d(4) = v;
param_get(_params_handles.pitchroll_rate_d50, &v);
_params.pitchroll_rate_d(5) = v;
param_get(_params_handles.pitchroll_rate_d60, &v);
_params.pitchroll_rate_d(6) = v;
param_get(_params_handles.pitchroll_rate_d70, &v);
_params.pitchroll_rate_d(7) = v;
param_get(_params_handles.pitchroll_rate_d80, &v);
_params.pitchroll_rate_d(8) = v;
param_get(_params_handles.pitchroll_rate_d90, &v);
_params.pitchroll_rate_d(9) = v;
_params.pitchroll_rate_d(10) = v;
/* Pulse switch data */
int i;
param_get(_params_handles.pulse_channel, &i);
_params.pulse_channel = i;
param_get(_params_handles.pulse_channel_threshold, &v);
_params.pulse_channel_threshold = v;
/*Pitch array scale factor*/
param_get(_params_handles.pitch_scale_factor, &v);
_params.pitch_scale = v;
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
return OK;
}
/*
* Attitude rates controller.
* Input: '_rates_sp' vector, '_thrust_sp'
* Output: '_att_control' vector
*/
void
MulticopterAttitudeControl::control_attitude_rates(float dt)
{
/* reset integral if disarmed */
if (!_armed.armed || !_vehicle_status.is_rotary_wing) {
_rates_int.zero();
}
/* get transformation matrix from sensor/board to body frame */
get_rot_matrix((enum Rotation)_params.board_rotation, &_board_rotation);
/* fine tune the rotation */
math::Matrix<3, 3> board_rotation_offset;
board_rotation_offset.from_euler(M_DEG_TO_RAD_F * _params.board_offset[0],
M_DEG_TO_RAD_F * _params.board_offset[1],
M_DEG_TO_RAD_F * _params.board_offset[2]);
_board_rotation = board_rotation_offset * _board_rotation;
// get the raw gyro data and correct for thermal errors
math::Vector<3> rates(_sensor_gyro.x * _sensor_correction.gyro_scale[0] + _sensor_correction.gyro_offset[0],
_sensor_gyro.y * _sensor_correction.gyro_scale[1] + _sensor_correction.gyro_offset[1],
_sensor_gyro.z * _sensor_correction.gyro_scale[2] + _sensor_correction.gyro_offset[2]);
// rotate corrected measurements from sensor to body frame
rates = _board_rotation * rates;
// correct for in-run bias errors
rates(0) -= _ctrl_state.roll_rate_bias;
rates(1) -= _ctrl_state.pitch_rate_bias;
rates(2) -= _ctrl_state.yaw_rate_bias;
math::Vector<3> rates_p_scaled = _params.rate_p.emult(pid_attenuations(_params.tpa_breakpoint_p, _params.tpa_rate_p));
math::Vector<3> rates_i_scaled = _params.rate_i.emult(pid_attenuations(_params.tpa_breakpoint_i, _params.tpa_rate_i));
math::Vector<3> rates_d_scaled = _params.rate_d.emult(pid_attenuations(_params.tpa_breakpoint_d, _params.tpa_rate_d));
/* angular rates error */
math::Vector<3> rates_err = _rates_sp - rates;
_att_control = rates_p_scaled.emult(rates_err) +
_rates_int +
rates_d_scaled.emult(_rates_prev - rates) / dt +
_params.rate_ff.emult(_rates_sp);
_rates_sp_prev = _rates_sp;
_rates_prev = rates;
/* update integral only if motors are providing enough thrust to be effective */
if (_thrust_sp > MIN_TAKEOFF_THRUST) {
for (int i = AXIS_INDEX_ROLL; i < AXIS_COUNT; i++) {
// Check for positive control saturation
bool positive_saturation =
((i == AXIS_INDEX_ROLL) && _saturation_status.flags.roll_pos) ||
((i == AXIS_INDEX_PITCH) && _saturation_status.flags.pitch_pos) ||
((i == AXIS_INDEX_YAW) && _saturation_status.flags.yaw_pos);
// Check for negative control saturation
bool negative_saturation =
((i == AXIS_INDEX_ROLL) && _saturation_status.flags.roll_neg) ||
((i == AXIS_INDEX_PITCH) && _saturation_status.flags.pitch_neg) ||
((i == AXIS_INDEX_YAW) && _saturation_status.flags.yaw_neg);
// prevent further positive control saturation
if (positive_saturation) {
rates_err(i) = math::min(rates_err(i), 0.0f);
}
// prevent further negative control saturation
if (negative_saturation) {
rates_err(i) = math::max(rates_err(i), 0.0f);
}
// Perform the integration using a first order method and do not propaate the result if out of range or invalid
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (PX4_ISFINITE(rate_i) && rate_i > -_params.rate_int_lim(i) && rate_i < _params.rate_int_lim(i)) {
_rates_int(i) = rate_i;
}
}
}
/* explicitly limit the integrator state */
for (int i = AXIS_INDEX_ROLL; i < AXIS_COUNT; i++) {
_rates_int(i) = math::constrain(_rates_int(i), -_params.rate_int_lim(i), _params.rate_int_lim(i));
}
}
int
MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_integ_lim, &v);
_params.rate_int_lim(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_integ_lim, &v);
_params.rate_int_lim(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;
param_get(_params_handles.tpa_breakpoint_p, &_params.tpa_breakpoint_p);
param_get(_params_handles.tpa_breakpoint_i, &_params.tpa_breakpoint_i);
param_get(_params_handles.tpa_breakpoint_d, &_params.tpa_breakpoint_d);
param_get(_params_handles.tpa_rate_p, &_params.tpa_rate_p);
param_get(_params_handles.tpa_rate_i, &_params.tpa_rate_i);
param_get(_params_handles.tpa_rate_d, &_params.tpa_rate_d);
/* yaw gains */
param_get(_params_handles.yaw_p, &v);
_params.att_p(2) = v;
param_get(_params_handles.yaw_rate_p, &v);
_params.rate_p(2) = v;
param_get(_params_handles.yaw_rate_i, &v);
_params.rate_i(2) = v;
param_get(_params_handles.yaw_rate_integ_lim, &v);
_params.rate_int_lim(2) = v;
param_get(_params_handles.yaw_rate_d, &v);
_params.rate_d(2) = v;
param_get(_params_handles.yaw_rate_ff, &v);
_params.rate_ff(2) = v;
param_get(_params_handles.yaw_ff, &_params.yaw_ff);
/* angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.mc_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.mc_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
_params.mc_rate_max(2) = math::radians(_params.yaw_rate_max);
/* auto angular rate limits */
param_get(_params_handles.roll_rate_max, &_params.roll_rate_max);
_params.auto_rate_max(0) = math::radians(_params.roll_rate_max);
param_get(_params_handles.pitch_rate_max, &_params.pitch_rate_max);
_params.auto_rate_max(1) = math::radians(_params.pitch_rate_max);
param_get(_params_handles.yaw_auto_max, &_params.yaw_auto_max);
_params.auto_rate_max(2) = math::radians(_params.yaw_auto_max);
/* manual rate control scale and auto mode roll/pitch rate limits */
param_get(_params_handles.acro_roll_max, &v);
_params.acro_rate_max(0) = math::radians(v);
param_get(_params_handles.acro_pitch_max, &v);
_params.acro_rate_max(1) = math::radians(v);
param_get(_params_handles.acro_yaw_max, &v);
_params.acro_rate_max(2) = math::radians(v);
/* stick deflection needed in rattitude mode to control rates not angles */
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
param_get(_params_handles.vtol_type, &_params.vtol_type);
int tmp;
param_get(_params_handles.vtol_opt_recovery_enabled, &tmp);
_params.vtol_opt_recovery_enabled = (bool)tmp;
param_get(_params_handles.vtol_wv_yaw_rate_scale, &_params.vtol_wv_yaw_rate_scale);
param_get(_params_handles.bat_scale_en, &_params.bat_scale_en);
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
/* rotation of the autopilot relative to the body */
param_get(_params_handles.board_rotation, &(_params.board_rotation));
/* fine adjustment of the rotation */
param_get(_params_handles.board_offset[0], &(_params.board_offset[0]));
param_get(_params_handles.board_offset[1], &(_params.board_offset[1]));
param_get(_params_handles.board_offset[2], &(_params.board_offset[2]));
return OK;
}