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Rover: align GCS PID with logged

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Iampete1 2020-05-17 18:16:36 +01:00 committed by Andrew Tridgell
parent 13d6a887fd
commit 96f75093fe
1 changed files with 4 additions and 7 deletions
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11
Rover/GCS_Mavlink.cpp
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@ -184,7 +184,6 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
{ {
Parameters &g = rover.g; Parameters &g = rover.g;
ParametersG2 &g2 = rover.g2; ParametersG2 &g2 = rover.g2;
const AP_AHRS &ahrs = AP::ahrs();
const AP_Logger::PID_Info *pid_info; const AP_Logger::PID_Info *pid_info;
@ -193,7 +192,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info(); pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->target), degrees(pid_info->target),
degrees(ahrs.get_yaw_rate_earth()), degrees(pid_info->actual),
pid_info->FF, pid_info->FF,
pid_info->P, pid_info->P,
pid_info->I, pid_info->I,
@ -206,12 +205,10 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
// speed to throttle PID // speed to throttle PID
if (g.gcs_pid_mask & 2) { if (g.gcs_pid_mask & 2) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info(); pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->target, pid_info->target,
speed, pid_info->actual,
0, pid_info->FF,
pid_info->P, pid_info->P,
pid_info->I, pid_info->I,
pid_info->D); pid_info->D);
@ -225,7 +222,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info(); pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
degrees(pid_info->target), degrees(pid_info->target),
degrees(ahrs.pitch), degrees(pid_info->actual),
pid_info->FF, pid_info->FF,
pid_info->P, pid_info->P,
pid_info->I, pid_info->I,