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Plane: added ACCZ pid tuning

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This commit is contained in:
Andrew Tridgell 2018-11-12 10:22:28 +11:00
parent 0d9c1847df
commit 85a1f9e40d
2 changed files with 7 additions and 1 deletions
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7
ArduPlane/GCS_Mavlink.cpp
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@ -398,7 +398,12 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) {
send_pid_info(chan, landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z));
}
}
if (g.gcs_pid_mask & TUNING_BITS_ACCZ && quadplane.in_vtol_mode()) {
const Vector3f &accel = ahrs.get_accel_ef();
pid_info = &quadplane.pos_control->get_accel_z_pid().get_pid_info();
send_pid_info(chan, pid_info, PID_TUNING_ACCZ, -accel.z);
}
}
uint8_t GCS_MAVLINK_Plane::sysid_my_gcs() const
{

1
ArduPlane/defines.h
View File

@ -123,6 +123,7 @@ enum tuning_pid_bits {
TUNING_BITS_YAW = (1 << 2),
TUNING_BITS_STEER = (1 << 3),
TUNING_BITS_LAND = (1 << 4),
TUNING_BITS_ACCZ = (1 << 5),
TUNING_BITS_END // dummy just used for static checking
};