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Copter: use SID_AXIS to hide other SystemID mode params

This commit is contained in:
Randy Mackay 2019-12-03 11:34:19 +09:00
parent 741c467f03
commit 54582814aa
2 changed files with 9 additions and 3 deletions
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2
ArduCopter/mode.h
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@ -1225,7 +1225,7 @@ private:
MIX_THROTTLE = 13, // mixer throttle axis is being excited
};
AP_Int8 axis; // Controls which axis are being excited
AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters
AP_Float waveform_magnitude;// Magnitude of chirp waveform
AP_Float frequency_start; // Frequency at the start of the chirp
AP_Float frequency_stop; // Frequency at the end of the chirp

10
ArduCopter/mode_systemid.cpp
View File

@ -10,10 +10,10 @@ const AP_Param::GroupInfo ModeSystemId::var_info[] = {
// @Param: _AXIS
// @DisplayName: System identification axis
// @Description: Controls which axis are being excited
// @Description: Controls which axis are being excited. Set to non-zero to see more parameters
// @User: Standard
// @Values: 0:None, 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, 5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, 11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust
AP_GROUPINFO("_AXIS", 1, ModeSystemId, axis, 0),
AP_GROUPINFO_FLAGS("_AXIS", 1, ModeSystemId, axis, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _MAGNITUDE
// @DisplayName: System identification Chirp Magnitude
@ -74,6 +74,12 @@ ModeSystemId::ModeSystemId(void) : Mode()
// systemId_init - initialise systemId controller
bool ModeSystemId::init(bool ignore_checks)
{
// check if enabled
if (axis == 0) {
gcs().send_text(MAV_SEVERITY_WARNING, "No axis selected, SID_AXIS = 0");
return false;
}
// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
if (motors->armed() && copter.ap.land_complete && !copter.flightmode->has_manual_throttle()) {
return false;