Refactor attitude control to be thread safe#27839

Merged

peterbarker merged 15 commits intoArduPilot:masterfrom andyp1per:pr-att-dt

Sep 26, 2024

+155-52

Commits on Sep 19, 2024

AC_AttitudeControl: pass in gyro sample to rate controller
andyp1per
committed
AC_AttitudeControl: ensure the rate and attitude controllers can't interfere with the target at the same time
andyp1per
committed
AC_AttitudeControl: Use rate step command

lthall
authored and
andyp1per
committed
AC_Autotune_Multi: Use rate step command

lthall
authored and
andyp1per
committed
AC_AttitudeControl: provide function to reset target modifiers
andyp1per
committed
Copter: reset sysid and other temporary inputs after rate cycle
andyp1per
committed
Plane: reset sysid and other temporary inputs after rate cycle
andyp1per
committed
AC_AttitudeControl: add commentary about functions which modify the rate loop target
andyp1per
committed
AC_AttitudeControl: Write_Rate() should be thread-safe
andyp1per
committed
AC_AttitudeControl: remove unused functions
andyp1per
committed

Commits on Sep 21, 2024

AC_AttitudeControl: ensure plane always gets the latest gyro
andyp1per
committed

Commits on Sep 22, 2024

AC_AttitudeControl: ensure Write_Rate() can be called from autotune
andyp1per
committed

Commits on Sep 23, 2024

AC_AttitudeControl: raise a config error if rate_controller_run_dt() is called by accident
andyp1per
committed

Commits on Sep 24, 2024