// rate_controller_run - run lowest level rate controller and send outputs to the motors
// should be called at 100hz or more
void AC_AttitudeControl_Heli::rate_controller_run()
{
// call rate controllers and send output to motors object
// To-Do: should the outputs from get_rate_roll, pitch, yaw be int16_t which is the input to the motors library?
// To-Do: skip this step if the throttle out is zero?
rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y);
_motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
}
// rate_controller_run - run lowest level rate controller and send outputs to the motors
// should be called at 100hz or more
void AC_AttitudeControl_Heli::rate_controller_run()
{
// call rate controllers and send output to motors object
// if using a flybar passthrough roll and pitch directly to motors
if (_flags_heli.flybar_passthrough) {
_motors.set_roll(_passthrough_roll);
_motors.set_pitch(_passthrough_pitch);
} else {
rate_bf_to_motor_roll_pitch(_rate_bf_target.x, _rate_bf_target.y);
}
_motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
}
// rate_controller_run - run lowest level rate controller and send outputs to the motors
// should be called at 100hz or more
void AC_AttitudeControl_Heli::rate_controller_run()
{
Vector3f gyro_latest = _ahrs.get_gyro_latest();
// call rate controllers and send output to motors object
// if using a flybar passthrough roll and pitch directly to motors
if (_flags_heli.flybar_passthrough) {
_motors.set_roll(_passthrough_roll/4500.0f);
_motors.set_pitch(_passthrough_pitch/4500.0f);
} else {
rate_bf_to_motor_roll_pitch(gyro_latest, _rate_target_ang_vel.x, _rate_target_ang_vel.y);
}
if (_flags_heli.tail_passthrough) {
_motors.set_yaw(_passthrough_yaw/4500.0f);
} else {
_motors.set_yaw(rate_target_to_motor_yaw(gyro_latest.z, _rate_target_ang_vel.z));
}
}
