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Rover: send PID to GCS regardless of mode

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Also add some comments
This commit is contained in:
Randy Mackay 2018-01-01 15:27:39 +09:00
parent 7f61734b4d
commit a190d62813
2 changed files with 4 additions and 8 deletions
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6
APMrover2/GCS_Mavlink.cpp
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@ -222,7 +222,8 @@ void Rover::send_rangefinder(mavlink_channel_t chan)
void Rover::send_pid_tuning(mavlink_channel_t chan) void Rover::send_pid_tuning(mavlink_channel_t chan)
{ {
const DataFlash_Class::PID_Info *pid_info; const DataFlash_Class::PID_Info *pid_info;
if ((g.gcs_pid_mask & 1) && (!control_mode->manual_steering())) { // steering PID
if (g.gcs_pid_mask & 1) {
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->desired), degrees(pid_info->desired),
@ -235,7 +236,8 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
return; return;
} }
} }
if ((g.gcs_pid_mask & 2) && (control_mode->auto_throttle())) { // speed to throttle PID
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; float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed); g2.attitude_control.get_forward_speed(speed);

6
APMrover2/mode.h
View File

@ -42,9 +42,6 @@ public:
// return if in non-manual mode : AUTO, GUIDED, RTL // return if in non-manual mode : AUTO, GUIDED, RTL
virtual bool is_autopilot_mode() const { return false; } virtual bool is_autopilot_mode() const { return false; }
// returns true if steering is directly controlled by RC
virtual bool manual_steering() const { return false; }
// returns true if the throttle is controlled automatically // returns true if the throttle is controlled automatically
virtual bool auto_throttle() { return is_autopilot_mode(); } virtual bool auto_throttle() { return is_autopilot_mode(); }
@ -309,9 +306,6 @@ public:
// methods that affect movement of the vehicle in this mode // methods that affect movement of the vehicle in this mode
void update() override; void update() override;
// attributes of the mode
bool manual_steering() const override { return true; }
// attributes for mavlink system status reporting // attributes for mavlink system status reporting
bool has_manual_input() const override { return true; } bool has_manual_input() const override { return true; }
bool attitude_stabilized() const override { return false; } bool attitude_stabilized() const override { return false; }