Plane: add input shaping to roll and pitch controllers#32743

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IamPete1 wants to merge 32 commits into

ArduPilot:masterfrom

IamPete1:FW_input_shaping

Commits on Jun 13, 2026

APM_Control: add input shaping to roll and pitch controllers
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Plane: use new roll and pitch controller methods
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Plane: add roll and pitch input shaping logging
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APM_Control: AP_FW_Controller: use correct integration
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APM_Control: replace separate jerk limit params with shared input time constant
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APM_Control: FW_Controller: apply input shaping to rate only commands
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APM_Control: AP_FW_Controller: update to work correctly for inverted flight
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APM_Control: AP_FW_Controller: ensure angle error is reset in rate only mode and add getter
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Plane: use controller angle error directly rather than re-caculating
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Plane: QAssist: skip angle check if flying inverted
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Plane: add angle error to ATIS log message
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APM_Control: FW_Controller: remove velocity feedforward
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APM_Control: AP_FW_Controller: use sqrt controller in the error path
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APM_Control: FixedWing: add angle P gain
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Scripting: Applets: revert param: add new fixedwing tuneing params
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AP_AHRS: make `active_EKF_type` function public
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Plane: check for changes in ahrs type, core or yaw resets and inform attitude controlers
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APM_Control: FixedWing: add ahrs reset method
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APM_Control: AP_FW_Controller: move turn coordination pitch rate outside of input shaping
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APM_Control: AP_FW_Controller: default angle gain to zero and use 1/tau
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APM_Control: AP_FW_Controller: don't reset input shaping to offset value
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Tools: autotest: Plane: GuidedAttitudeNoGPS: reduce takeoff alt by 30m
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Tools: autotest: Plane: `SetHomeAltChange` allow slightly longer for altitude to settle
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SITL: add AHRS angle offset params
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AP_AHRS: SIM: apply angle offset from params
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Plane: `check_ahrs_reset` only report primary core change if type has not changed
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Tools: autotest: Plane: add check for step less input shaping after AHRS switch
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Plane: use FW controllers angle gain method
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APM_Control: AP_FW_Controller: add get_angle_p method
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Tools: autotest: quadplane: TerrainAvoidApplet: turn off input shaping
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APM_Control: AP_FW_Controller: rename methods per review
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Plane: Logging: ATIS: Improve field descriptions
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