Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: fix send_pid_tuning

Browse Source 
the rate roll PID was being overwritten when PID logging was enabled
This commit is contained in:
Randy Mackay 2019-04-13 11:49:07 +09:00
parent 54fe1dad82
commit 571d933b3f
1 changed files with 15 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
ArduCopter/GCS_Mavlink.cpp
View File

@ -201,37 +201,38 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
AC_PID &pid = copter.attitude_control->get_rate_roll_pid(); // dummy ref
const AP_Logger::PID_Info *pid_info = nullptr;
float achieved;
switch (axes[i]) {
case PID_TUNING_ROLL:
pid = copter.attitude_control->get_rate_roll_pid();
pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
achieved = degrees(gyro.x);
break;
case PID_TUNING_PITCH:
pid = copter.attitude_control->get_rate_pitch_pid();
pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
achieved = degrees(gyro.y);
break;
case PID_TUNING_YAW:
pid = copter.attitude_control->get_rate_yaw_pid();
pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
achieved = degrees(gyro.z);
break;
case PID_TUNING_ACCZ:
pid = copter.pos_control->get_accel_z_pid();
pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
achieved = -(AP::ahrs().get_accel_ef_blended().z + GRAVITY_MSS);
break;
default:
continue;
}
const AP_Logger::PID_Info &pid_info = pid.get_pid_info();
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info.desired*0.01f,
achieved,
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info->desired*0.01f,
achieved,
pid_info->FF*0.01f,
pid_info->P*0.01f,
pid_info->I*0.01f,
pid_info->D*0.01f);
}
}
}