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AC_AttitudeControl: Add accessor for yaw slew limit

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Leonard Hall 2021-07-09 18:13:33 +09:30 committed by Randy Mackay
parent 49da46af16
commit 05f21d7665
1 changed files with 4 additions and 1 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -111,6 +111,9 @@ public:
// get the pitch angular velocity limit in radians/s // get the pitch angular velocity limit in radians/s
float get_ang_vel_pitch_max_radss() const { return _ang_vel_pitch_max; } float get_ang_vel_pitch_max_radss() const { return _ang_vel_pitch_max; }
// get the yaw slew limit
float get_slew_yaw_cds() const { return _slew_yaw; }
// get the rate control input smoothing time constant // get the rate control input smoothing time constant
float get_input_tc() const { return _input_tc; } float get_input_tc() const { return _input_tc; }
@ -120,7 +123,7 @@ public:
// Ensure attitude controller have zero errors to relax rate controller output // Ensure attitude controller have zero errors to relax rate controller output
void relax_attitude_controllers(); void relax_attitude_controllers();
// Used by child class AC_AttitudeControl_TS to change behavior for tailsitter quadplanes // Used by child class AC_AttitudeControl_TS to change behaviour for tailsitter quadplanes
virtual void relax_attitude_controllers(bool exclude_pitch) { relax_attitude_controllers(); } virtual void relax_attitude_controllers(bool exclude_pitch) { relax_attitude_controllers(); }
// reset rate controller I terms // reset rate controller I terms