From 4f762a97637f5111bbb565ab7ab03f46169e3c43 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Thu, 11 Jan 2024 14:48:07 -0300 Subject: [PATCH] Sub: update pid_tuning message --- ArduSub/GCS_Mavlink.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp index 8350f439d1..475f9a6f53 100644 --- a/ArduSub/GCS_Mavlink.cpp +++ b/ArduSub/GCS_Mavlink.cpp @@ -171,7 +171,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning() pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, - pid_info.D*0.01f); + pid_info.D*0.01f, + pid_info.slew_rate, + pid_info.Dmod); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } @@ -184,7 +186,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning() pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, - pid_info.D*0.01f); + pid_info.D*0.01f, + pid_info.slew_rate, + pid_info.Dmod); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } @@ -197,7 +201,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning() pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, - pid_info.D*0.01f); + pid_info.D*0.01f, + pid_info.slew_rate, + pid_info.Dmod); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } @@ -210,7 +216,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning() pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, - pid_info.D*0.01f); + pid_info.D*0.01f, + pid_info.slew_rate, + pid_info.Dmod); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; }