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AC_AttitudeControl: make logging methods public/static so Blimp can use them

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Peter Barker 2024-02-28 23:14:23 +11:00 committed by Peter Barker
parent f4df89b85b
commit 8ce6964948
1 changed files with 5 additions and 5 deletions
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10
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -401,6 +401,10 @@ public:
static const struct AP_Param::GroupInfo var_info[];
static void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
static void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
static void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
protected:
// get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain)
@ -487,13 +491,9 @@ protected:
// return true if on a real vehicle or SITL with lock-step scheduling
bool has_good_timing(void) const;
void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
private:
// convenience method for writing out the identical PSCE, PSCN, PSCD - and
// to save bytes
void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
static void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
};