mirror of https://github.com/ArduPilot/ardupilot
Copter: change input_loiter_xxx to input_vel_xxx in sysid mode
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@ -1653,8 +1653,8 @@ private:
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DISTURB_POS_LONG = 15, // longitudinal body axis measured position is being excited
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DISTURB_VEL_LAT = 16, // lateral body axis measured velocity is being excited
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DISTURB_VEL_LONG = 17, // longitudinal body axis measured velocity is being excited
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INPUT_LOITER_LAT = 18, // lateral body axis commanded velocity is being excited
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INPUT_LOITER_LONG = 19, // longitudinal body axis commanded velocity is being excited
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INPUT_VEL_LAT = 18, // lateral body axis commanded velocity is being excited
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INPUT_VEL_LONG = 19, // longitudinal body axis commanded velocity is being excited
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};
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AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters
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@ -332,12 +332,12 @@ void ModeSystemId::run()
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disturb_state.rotate(attitude_control->get_att_target_euler_rad().z);
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pos_control->set_disturb_vel_cms(disturb_state);
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break;
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case AxisType::INPUT_LOITER_LAT:
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case AxisType::INPUT_VEL_LAT:
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input_vel.x = 0.0f;
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input_vel.y = waveform_sample * 100.0f;
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input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
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break;
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case AxisType::INPUT_LOITER_LONG:
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case AxisType::INPUT_VEL_LONG:
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input_vel.x = waveform_sample * 100.0f;
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input_vel.y = 0.0f;
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input_vel.rotate(attitude_control->get_att_target_euler_rad().z);
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@ -433,8 +433,8 @@ bool ModeSystemId::is_poscontrol_axis_type() const
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case AxisType::DISTURB_POS_LONG:
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case AxisType::DISTURB_VEL_LAT:
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case AxisType::DISTURB_VEL_LONG:
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case AxisType::INPUT_LOITER_LAT:
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case AxisType::INPUT_LOITER_LONG:
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case AxisType::INPUT_VEL_LAT:
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case AxisType::INPUT_VEL_LONG:
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ret = true;
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break;
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default:
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