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Copter: implement suggested changes

This commit is contained in:
bnsgeyer 2024-05-13 12:16:57 -04:00 committed by Bill Geyer
parent c2e99dc50e
commit bbaf557457
2 changed files with 15 additions and 8 deletions
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2
ArduCopter/mode.h
View File

@ -3,7 +3,7 @@
#include "Copter.h"
#include <AP_Math/chirp.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this
#include <AP_Math/control.h>
class Parameters;
class ParametersG2;

21
ArduCopter/mode_systemid.cpp
View File

@ -1,4 +1,5 @@
#include "Copter.h"
#include <AP_Math/control.h>
#if MODE_SYSTEMID_ENABLED == ENABLED
@ -129,8 +130,7 @@ bool ModeSystemId::init(bool ignore_checks)
}
Vector3f curr_pos;
curr_pos = inertial_nav.get_position_neu_cm();
target_pos.x = curr_pos.x;
target_pos.y = curr_pos.y;
target_pos = curr_pos.xy();
}
att_bf_feedforward = attitude_control->get_bf_feedforward();
@ -428,11 +428,18 @@ bool ModeSystemId::is_poscontrol_axis_type() const
{
bool ret = false;
if ((AxisType)axis.get() == AxisType::DISTURB_POS_LAT || (AxisType)axis.get() == AxisType::DISTURB_POS_LONG
|| (AxisType)axis.get() == AxisType::DISTURB_VEL_LAT || (AxisType)axis.get() == AxisType::DISTURB_VEL_LONG
|| (AxisType)axis.get() == AxisType::INPUT_LOITER_LAT || (AxisType)axis.get() == AxisType::INPUT_LOITER_LONG) {
ret = true;
}
switch ((AxisType)axis.get()) {
case AxisType::DISTURB_POS_LAT:
case AxisType::DISTURB_POS_LONG:
case AxisType::DISTURB_VEL_LAT:
case AxisType::DISTURB_VEL_LONG:
case AxisType::INPUT_LOITER_LAT:
case AxisType::INPUT_LOITER_LONG:
ret = true;
break;
default:
break;
}
return ret;
}