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Plane: Log the steering controller PID state

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Michael du Breuil 2015-06-21 20:27:40 -07:00 committed by Andrew Tridgell
parent 6cd81ae1fb
commit 54c06cde02
2 changed files with 14 additions and 0 deletions
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13
ArduPlane/GCS_Mavlink.cpp
View File

@ -492,6 +492,19 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
return; return;
} }
} }
if (g.gcs_pid_mask & 4) {
const DataFlash_Class::PID_Info &pid_info = yawController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired,
degrees(gyro.z),
pid_info.FF,
pid_info.P,
pid_info.I,
pid_info.D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 8) { if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info(); const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,

1
ArduPlane/Log.cpp
View File

@ -171,6 +171,7 @@ void Plane::Log_Write_Attitude(void)
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16 #if HAL_CPU_CLASS > HAL_CPU_CLASS_16
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
#endif #endif