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AC_AttitudeControl: add get for angle bf errors

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Leonard Hall 2015-04-14 22:30:44 +09:30 committed by Randy Mackay
parent 88be3d67e7
commit 4d9da2720b
1 changed files with 3 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -140,6 +140,9 @@ public:
// angle_ef_targets - returns angle controller earth-frame targets (for reporting) // angle_ef_targets - returns angle controller earth-frame targets (for reporting)
const Vector3f& angle_ef_targets() const { return _angle_ef_target; } const Vector3f& angle_ef_targets() const { return _angle_ef_target; }
// angle_bf_error - returns angle controller body-frame errors (for stability checking)
const Vector3f& angle_bf_error() const { return _angle_bf_error; }
// rate_bf_targets - sets rate controller body-frame targets // rate_bf_targets - sets rate controller body-frame targets
void rate_bf_roll_target(float rate_cds) { _rate_bf_target.x = rate_cds; } void rate_bf_roll_target(float rate_cds) { _rate_bf_target.x = rate_cds; }
void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; } void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; }