Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AR_AttitudeControl: record desired turn rate and speed for logging

This commit is contained in:
Randy Mackay 2017-10-25 20:27:42 +09:00
parent 2ef1e8e4c2
commit 8daa8cba1f
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/APM_Control/AR_AttitudeControl.cpp
View File

@ -211,6 +211,9 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
}
float rate_error = (desired_rate - yaw_rate_earth) * scaler;
// record desired rate for logging purposes only
_steer_rate_pid.set_desired_rate(desired_rate);
// pass error to PID controller
_steer_rate_pid.set_input_filter_all(rate_error);
@ -269,6 +272,9 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool skid_
float speed_error = desired_speed - speed;
_throttle_speed_pid.set_input_filter_all(speed_error);
// record desired speed for logging purposes only
_throttle_speed_pid.set_desired_rate(desired_speed);
// get p
float p = _throttle_speed_pid.get_p();