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Sub: added slew rate and Dmod for PID_TUNING message

This commit is contained in:
Andrew Tridgell 2021-08-14 14:50:40 +10:00
parent e1b73a5198
commit bf7f140052
1 changed files with 12 additions and 4 deletions
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16
ArduSub/GCS_Mavlink.cpp
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@ -161,7 +161,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
pid_info.FF*0.01f, pid_info.FF*0.01f,
pid_info.P*0.01f, pid_info.P*0.01f,
pid_info.I*0.01f, pid_info.I*0.01f,
pid_info.D*0.01f); pid_info.D*0.01f,
pid_info.slew_rate,
pid_info.Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return; return;
} }
@ -174,7 +176,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
pid_info.FF*0.01f, pid_info.FF*0.01f,
pid_info.P*0.01f, pid_info.P*0.01f,
pid_info.I*0.01f, pid_info.I*0.01f,
pid_info.D*0.01f); pid_info.D*0.01f,
pid_info.slew_rate,
pid_info.Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return; return;
} }
@ -187,7 +191,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
pid_info.FF*0.01f, pid_info.FF*0.01f,
pid_info.P*0.01f, pid_info.P*0.01f,
pid_info.I*0.01f, pid_info.I*0.01f,
pid_info.D*0.01f); pid_info.D*0.01f,
pid_info.slew_rate,
pid_info.Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return; return;
} }
@ -200,7 +206,9 @@ void GCS_MAVLINK_Sub::send_pid_tuning()
pid_info.FF*0.01f, pid_info.FF*0.01f,
pid_info.P*0.01f, pid_info.P*0.01f,
pid_info.I*0.01f, pid_info.I*0.01f,
pid_info.D*0.01f); pid_info.D*0.01f,
pid_info.slew_rate,
pid_info.Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return; return;
} }