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AC_PID: log desired rate for VFF as well as AFF

This commit is contained in:
Andrew Tridgell 2015-05-24 12:20:32 +10:00
parent b45ab52015
commit 6000bb0c32
1 changed files with 1 additions and 0 deletions
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1
libraries/AC_PID/AC_HELI_PID.cpp
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@ -56,6 +56,7 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
float AC_HELI_PID::get_vff(float requested_rate) float AC_HELI_PID::get_vff(float requested_rate)
{ {
_pid_info.FF = (float)requested_rate * _vff; _pid_info.FF = (float)requested_rate * _vff;
_pid_info.desired = requested_rate;
return _pid_info.FF; return _pid_info.FF;
} }