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Sub: move sending of send_pid_tuning up

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Peter Barker 2019-03-01 10:33:10 +11:00 committed by Andrew Tridgell
parent 94899bd2ed
commit b04d084a50
3 changed files with 8 additions and 8 deletions
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13
ArduSub/GCS_Mavlink.cpp
View File

@ -166,8 +166,12 @@ bool GCS_MAVLINK_Sub::send_info()
/* /*
send PID tuning message send PID tuning message
*/ */
void Sub::send_pid_tuning(mavlink_channel_t chan) void GCS_MAVLINK_Sub::send_pid_tuning()
{ {
const Parameters &g = sub.g;
AP_AHRS &ahrs = AP::ahrs();
AC_AttitudeControl_Sub &attitude_control = sub.attitude_control;
const Vector3f &gyro = ahrs.get_gyro(); const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) { if (g.gcs_pid_mask & 1) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
@ -209,7 +213,7 @@ void Sub::send_pid_tuning(mavlink_channel_t chan)
} }
} }
if (g.gcs_pid_mask & 8) { if (g.gcs_pid_mask & 8) {
const AP_Logger::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info(); const AP_Logger::PID_Info &pid_info = sub.pos_control.get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f, pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS), -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
@ -263,11 +267,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
#endif #endif
break; break;
case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
sub.send_pid_tuning(chan);
break;
default: default:
return GCS_MAVLINK::try_send_message(id); return GCS_MAVLINK::try_send_message(id);
} }

2
ArduSub/GCS_Mavlink.h
View File

@ -36,6 +36,8 @@ protected:
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED; bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
void send_nav_controller_output() const override; void send_nav_controller_output() const override;
void send_pid_tuning() override;
uint64_t capabilities() const override; uint64_t capabilities() const override;
private: private:

1
ArduSub/Sub.h
View File

@ -483,7 +483,6 @@ private:
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();
#endif #endif
void send_pid_tuning(mavlink_channel_t chan);
void Log_Write_Control_Tuning(); void Log_Write_Control_Tuning();
void Log_Write_Performance(); void Log_Write_Performance();
void Log_Write_Attitude(); void Log_Write_Attitude();