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Refactor attitude control to be thread safe #27839

Merged
merged 15 commits into from
Sep 26, 2024
Merged

Refactor attitude control to be thread safe #27839

merged 15 commits into from
Sep 26, 2024

Commits on Sep 19, 2024

  1. AC_AttitudeControl: pass in gyro sample to rate controller

    @andyp1per
    andyp1per committed Sep 19, 2024
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  2. AC_AttitudeControl: ensure the rate and attitude controllers can't in… 

    …terfere with the target at the same time
    @andyp1per
    andyp1per committed Sep 19, 2024
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  3. AC_AttitudeControl: Use rate step command

    @lthall @andyp1per
    lthall authored and andyp1per committed Sep 19, 2024
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  4. AC_Autotune_Multi: Use rate step command

    @lthall @andyp1per
    lthall authored and andyp1per committed Sep 19, 2024
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  5. AC_AttitudeControl: provide function to reset target modifiers

    @andyp1per
    andyp1per committed Sep 19, 2024
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  6. Copter: reset sysid and other temporary inputs after rate cycle

    @andyp1per
    andyp1per committed Sep 19, 2024
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  7. Plane: reset sysid and other temporary inputs after rate cycle

    @andyp1per
    andyp1per committed Sep 19, 2024
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  8. AC_AttitudeControl: add commentary about functions which modify the r… 

    …ate loop target
    @andyp1per
    andyp1per committed Sep 19, 2024
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  9. AC_AttitudeControl: Write_Rate() should be thread-safe

    @andyp1per
    andyp1per committed Sep 19, 2024
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  10. AC_AttitudeControl: remove unused functions

    @andyp1per
    andyp1per committed Sep 19, 2024
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Commits on Sep 21, 2024

  1. AC_AttitudeControl: ensure plane always gets the latest gyro

    @andyp1per
    andyp1per committed Sep 21, 2024
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Commits on Sep 22, 2024

  1. AC_AttitudeControl: ensure Write_Rate() can be called from autotune

    @andyp1per
    andyp1per committed Sep 22, 2024
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Commits on Sep 23, 2024

  1. AC_AttitudeControl: raise a config error if rate_controller_run_dt() … 

    …is called by accident
    @andyp1per
    andyp1per committed Sep 23, 2024
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Commits on Sep 24, 2024

  1. AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument

    @andyp1per
    andyp1per committed Sep 24, 2024
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  2. Copter: remove whitespace

    @andyp1per
    andyp1per committed Sep 24, 2024
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