steering rate controller. Returns servo out -4500 to 4500 given desired yaw rate in degrees/sec. Positive yaw rate means clockwise yaw. */

get_stopping_point_xy_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration function does not change the

get expected source of terrain data if alt-above-terrain command is executed (used by Copter's ModeRTL)

get the true wind direction in radians, 0 = wind coming from north

** Auxiliary function used by several library functions: check for ** an optional thread as function's first argument and set 'arg' with ** 1 if this

return True if we have a peripheral starting with the given peripheral type

return true if the GPS supports vertical velocity values

is quadplane assisting?

init - initialise circle controller setting center specifically set terrain_alt to true if center.z should be interpreted as an alt-above-terrain. Rat

input_expo calculates the expo function on the normalised input. The input must be in the range of -1 to 1. The expo should be less than 1.0 but limit

inv_sqrt_controller calculates the inverse of the sqrt controller. This function calculates the input (aka error) to the sqrt_controller required to a

return true if this is a CS pin

returns true if vehicle is a balance bot called in AP_MotorsUGV::output() this affects whether the vehicle tries to control its pitch with throttle ou

Return true if value is between lower and upper bound inclusive. False otherwise. */

true for all q modes

returns time of last update

return the proportion we are along the path from point1 to point2, along a line parallel to point1<->point2. This will be more than 1 if we have

functions to handle locking of home. Some vehicles use this to allow GCS to lock in a home location.

** create a new collectable object (with given type and size) and link ** it to 'allgc' list. */

** set GCdebt to a new value keeping the value (totalbytes + GCdebt) ** invariant (and avoiding underflows in 'totalbytes') */

** beware: when using this function you probably need to check a GC ** barrier and invalidate the TM cache. */

** Change line information associated with current position. */

** returns current 'pc' and marks it as a jump target (to avoid wrong ** optimizations with consecutive instructions not in the same basic block). */

allocate from memory connected to AXI Bus if available else just allocate dma safe memory */

apply filter to sample, returning multiplier between 0 and 1 to keep output within slew rate */

motors_output - send output to motors library which will adjust and send to ESCs and servos

/ Portable time function using matlabs NOW */

Returns the next variable in _var_info, recursing into groups as needed

* Direction Cosine Matrix IMU: Theory * William Premerlani and Paul Bizard * * Numerical errors will gradually reduce the orthogonality conditio

notify GCS of current value of parameter

num_commands_max - returns maximum number of commands that can be stored

read mode of a pin. This allows a pin config to be read, changed and then written back */

Gets the payload length

translate a relative string position: negative means back from end */

return protocol name */

stop corking output */

define putreg32(v,a) */

return true if rangefinder_alt can be used

see if we have reached our loiter target */

reset on next loop

Resets the baro so that it reads zero at the current height Resets the EKF height to zero Adjusts the EKf origin height so that the EKF height + origi

convert from right-front-up to front-right-down or ENU to NED

Send a dshot command, if command timout is 0 then 10 commands are sent chan is the servo channel to send the command to

Set to true if the terrain underneath is stable enough to be used as a height reference in combination with a range finder. Set to false if the terrai