AC_AttitudeControl: add support to set ILMI param defaults

AC_AttitudeControl: resolving rebase issues
AC_AttitudeControl: resolving rebase issues

AC_AttitudeControl: Implement default setting of ILMI param for heli

AC_AttitudeControl: nested if statement so common default gains between trad heli and copter are not duplicated

Author: bnsgeyer

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -15,6 +15,7 @@
 #define AC_ATC_HELI_RATE_RP_IMAX                    0.4f
 #define AC_ATC_HELI_RATE_RP_FF                      0.15f
 #define AC_ATC_HELI_RATE_RP_FILT_HZ                 20.0f
+#define AC_ATC_HELI_RATE_RP_ILMI                    0.05f  // Default I-term Leak Minimum
 #define AC_ATC_HELI_RATE_YAW_P                      0.18f
 #define AC_ATC_HELI_RATE_YAW_I                      0.12f
 #define AC_ATC_HELI_RATE_YAW_D                      0.003f
@@ -173,8 +174,8 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
             .srtau     = 1.0
         }
     };
-    AC_HELI_PID     _pid_rate_roll { rp_defaults };
-    AC_HELI_PID     _pid_rate_pitch { rp_defaults };
+    AC_HELI_PID     _pid_rate_roll { rp_defaults, AC_ATC_HELI_RATE_RP_ILMI };
+    AC_HELI_PID     _pid_rate_pitch { rp_defaults, AC_ATC_HELI_RATE_RP_ILMI };
 
     AC_HELI_PID     _pid_rate_yaw {
         AC_PID::Defaults{
@@ -189,6 +190,7 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
             .srmax     = 0,
             .srtau     = 1.0
         }
+        , 0.0f  // default_ilmi
     };
 
 };

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -49,25 +49,34 @@ extern const AP_HAL::HAL& hal;
  # define POSCONTROL_NE_VEL_FILT_HZ             5.0f    // horizontal velocity controller input filter
  # define POSCONTROL_NE_VEL_FILT_D_HZ           5.0f    // horizontal velocity controller input filter for D
 #else
- // default gains for Copter / TradHeli
+ // default gains common between TradHeli and Copter 
  # define POSCONTROL_D_POS_P                    1.0f    // vertical position controller P gain default
  # define POSCONTROL_D_VEL_P                    5.0f    // vertical velocity controller P gain default
  # define POSCONTROL_D_VEL_IMAX                 10.0f   // vertical velocity controller IMAX gain default
  # define POSCONTROL_D_VEL_FILT_HZ              5.0f    // vertical velocity controller input filter
- # define POSCONTROL_D_VEL_FILT_D_HZ            5.0f    // vertical velocity controller input filter for D
- # define POSCONTROL_D_ACC_P                    0.05f   // vertical acceleration controller P gain default
+ # define POSCONTROL_D_VEL_FILT_D_HZ            5.0f    // vertical velocity controller input filter for D 
  # define POSCONTROL_D_ACC_I                    0.1f    // vertical acceleration controller I gain default
  # define POSCONTROL_D_ACC_D                    0.0f    // vertical acceleration controller D gain default
  # define POSCONTROL_D_ACC_IMAX                 0.8f    // vertical acceleration controller IMAX gain default
  # define POSCONTROL_D_ACC_FILT_HZ              20.0f   // vertical acceleration controller input filter default
  # define POSCONTROL_D_ACC_DT                   0.0025f // vertical acceleration controller dt default
  # define POSCONTROL_NE_POS_P                   1.0f    // horizontal position controller P gain default
- # define POSCONTROL_NE_VEL_P                   2.0f    // horizontal velocity controller P gain default
- # define POSCONTROL_NE_VEL_I                   1.0f    // horizontal velocity controller I gain default
- # define POSCONTROL_NE_VEL_D                   0.25f   // horizontal velocity controller D gain default
  # define POSCONTROL_NE_VEL_IMAX                10.0f   // horizontal velocity controller IMAX gain default
  # define POSCONTROL_NE_VEL_FILT_HZ             5.0f    // horizontal velocity controller input filter
  # define POSCONTROL_NE_VEL_FILT_D_HZ           5.0f    // horizontal velocity controller input filter for D
+ #if APM_BUILD_TYPE(APM_BUILD_Heli)
+  // default gains specific to TradHeli 
+  # define POSCONTROL_D_ACC_P                    0.028f  // vertical acceleration controller P gain default
+  # define POSCONTROL_NE_VEL_P                   1.0f    // horizontal velocity controller P gain default
+  # define POSCONTROL_NE_VEL_I                   0.5f    // horizontal velocity controller I gain default
+  # define POSCONTROL_NE_VEL_D                   0.0f    // horizontal velocity controller D gain default
+ #else
+  // default gains specific to Copter
+  # define POSCONTROL_D_ACC_P                    0.05f   // vertical acceleration controller P gain default
+  # define POSCONTROL_NE_VEL_P                   2.0f    // horizontal velocity controller P gain default
+  # define POSCONTROL_NE_VEL_I                   1.0f    // horizontal velocity controller I gain default
+  # define POSCONTROL_NE_VEL_D                   0.25f   // horizontal velocity controller D gain default
+ #endif
 #endif
 
 // vibration compensation gains