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AC_PosControl: Make get_z_accel_cmss public

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Leonard Hall 2022-07-10 00:45:00 +09:30 committed by Randy Mackay
parent a8bf2c0141
commit 4a12faea92
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -387,6 +387,9 @@ public:
/// aircraft when in standby. /// aircraft when in standby.
void standby_xyz_reset(); void standby_xyz_reset();
// get earth-frame Z-axis acceleration with gravity removed in cm/s/s with +ve being up
float get_z_accel_cmss() const { return -(_ahrs.get_accel_ef().z + GRAVITY_MSS) * 100.0f; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
@ -394,9 +397,6 @@ protected:
// get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain) // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain)
float get_throttle_with_vibration_override(); float get_throttle_with_vibration_override();
// get earth-frame Z-axis acceleration with gravity removed in cm/s/s with +ve being up
float get_z_accel_cmss() const { return -(_ahrs.get_accel_ef().z + GRAVITY_MSS) * 100.0f; }
// lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s // lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
void accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const; void accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const;