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AC_AutoTune: adjust variable names to include _cd postfix

This commit is contained in:
Peter Barker 2024-07-03 19:34:05 +10:00 committed by Peter Barker
parent fba47e641d
commit 35bdadb8ec
2 changed files with 8 additions and 8 deletions
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12
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
View File

@ -822,8 +822,8 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
filt_att_fdbk_from_velxy_cd.apply(att_fdbk, AP::scheduler().get_loop_period_s());
} else {
target_angle_cd = 0.0f;
trim_yaw_tgt_reading = (float)attitude_control->get_att_target_euler_cd().z;
trim_yaw_heading_reading = (float)ahrs_view->yaw_sensor;
trim_yaw_tgt_reading_cd = (float)attitude_control->get_att_target_euler_cd().z;
trim_yaw_heading_reading_cd = (float)ahrs_view->yaw_sensor;
dwell_start_time_ms = now;
filt_att_fdbk_from_velxy_cd.reset(Vector2f(0.0f,0.0f));
settle_time--;
@ -865,17 +865,17 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
break;
case YAW:
case YAW_D:
attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false);
attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading_cd + target_angle_cd), false);
command_reading = motors->get_yaw();
if (test_calc_type == DRB) {
tgt_rate_reading = radians(target_angle_cd * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading - target_angle_cd)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd - target_angle_cd)) * 0.01f);
} else if (test_calc_type == RATE) {
tgt_rate_reading = attitude_control->rate_bf_targets().z;
gyro_reading = ahrs_view->get_gyro().z;
} else {
tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading)) * 0.01f);
tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading_cd)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd)) * 0.01f);
}
break;
}

4
libraries/AC_AutoTune/AC_AutoTune_Heli.h
View File

@ -276,8 +276,8 @@ private:
// trim variables for determining trim state prior to test starting
Vector3f trim_attitude_cd; // trim attitude before starting test
float trim_command; // trim target yaw reading before starting test
float trim_yaw_tgt_reading; // trim target yaw reading before starting test
float trim_yaw_heading_reading; // trim heading reading before starting test
float trim_yaw_tgt_reading_cd; // trim target yaw reading before starting test
float trim_yaw_heading_reading_cd; // trim heading reading before starting test
LowPassFilterFloat command_filt; // filtered command - filtering intended to remove noise
LowPassFilterFloat target_rate_filt; // filtered target rate in radians/second - filtering intended to remove noise