Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

APM_Control: SteerController: add active method

This commit is contained in:
Iampete1 2022-09-16 16:12:11 +01:00 committed by Andrew Tridgell
parent eefda1130c
commit c6e0ba7360
2 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/APM_Control/AP_SteerController.cpp
View File

@ -249,3 +249,9 @@ void AP_SteerController::reset_I()
_pid_info.I = 0; _pid_info.I = 0;
} }
// Returns true if controller has been run recently
bool AP_SteerController::active() const
{
return (AP_HAL::millis() - _last_t) < 1000;
}

3
libraries/APM_Control/AP_SteerController.h
View File

@ -50,6 +50,9 @@ public:
_reverse = reverse; _reverse = reverse;
} }
// Returns true if controller has been run recently
bool active() const;
private: private:
AP_Float _tau; AP_Float _tau;
AP_Float _K_FF; AP_Float _K_FF;