AC_AttitudeControl: rate_controller_run_dt() takes dt as last argument

ArduPilot · Sep 26, 2024 · eeda86c · eeda86c
1 parent 15de449
commit eeda86c
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -245,7 +245,7 @@ class AC_AttitudeControl {
     virtual void rate_controller_target_reset() {}
 
     // optional variant to allow running with different dt
-    virtual void rate_controller_run_dt(float dt, const Vector3f& gyro) { AP_BoardConfig::config_error("rate_controller_run_dt() must be defined"); };
+    virtual void rate_controller_run_dt(const Vector3f& gyro, float dt) { AP_BoardConfig::config_error("rate_controller_run_dt() must be defined"); };
 
     // Convert a 321-intrinsic euler angle derivative to an angular velocity vector
     void euler_rate_to_ang_vel(const Quaternion& att, const Vector3f& euler_rate_rads, Vector3f& ang_vel_rads);

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
@@ -439,7 +439,7 @@ void AC_AttitudeControl_Multi::update_throttle_rpy_mix()
     _throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, AC_ATTITUDE_CONTROL_MAX);
 }
 
-void AC_AttitudeControl_Multi::rate_controller_run_dt(float dt, const Vector3f& gyro)
+void AC_AttitudeControl_Multi::rate_controller_run_dt(const Vector3f& gyro, float dt)
 {
     // take a copy of the target so that it can't be changed from under us.
     Vector3f ang_vel_body = _ang_vel_body;
@@ -481,7 +481,7 @@ void AC_AttitudeControl_Multi::rate_controller_target_reset()
 void AC_AttitudeControl_Multi::rate_controller_run()
 {
     Vector3f gyro_latest = _ahrs.get_gyro_latest();
-    rate_controller_run_dt(_dt, gyro_latest);
+    rate_controller_run_dt(gyro_latest, _dt);
 }
 
 // sanity check parameters.  should be called once before takeoff

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -76,7 +76,7 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
     bool is_throttle_mix_min() const override { return (_throttle_rpy_mix < 1.25f * _thr_mix_min); }
 
     // run lowest level body-frame rate controller and send outputs to the motors
-    void rate_controller_run_dt(float dt, const Vector3f& gyro) override;
+    void rate_controller_run_dt(const Vector3f& gyro, float dt) override;
     void rate_controller_target_reset() override;
     void rate_controller_run() override;