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Copter: added PID_TUNING for accel controller

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This commit is contained in:
Andrew Tridgell 2015-05-24 16:00:25 +10:00
parent a57889e3b0
commit cdea9be9bb
1 changed files with 16 additions and 3 deletions
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19
ArduCopter/GCS_Mavlink.pde
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@ -431,7 +431,7 @@ static void send_pid_tuning(mavlink_channel_t chan)
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = g.pid_rate_roll.get_pid_info();
mavlink_msg_pid_tuning_send(chan, 1,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f,
degrees(gyro.x),
pid_info.FF*0.01,
@ -444,7 +444,7 @@ static void send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 2) {
const DataFlash_Class::PID_Info &pid_info = g.pid_rate_pitch.get_pid_info();
mavlink_msg_pid_tuning_send(chan, 2,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f,
degrees(gyro.y),
pid_info.FF*0.01f,
@ -457,7 +457,7 @@ static void send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 4) {
const DataFlash_Class::PID_Info &pid_info = g.pid_rate_yaw.get_pid_info();
mavlink_msg_pid_tuning_send(chan, 3,
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f,
degrees(gyro.z),
pid_info.FF*0.01f,
@ -468,6 +468,19 @@ static void send_pid_tuning(mavlink_channel_t chan)
return;
}
}
if (g.gcs_pid_mask & 8) {
const DataFlash_Class::PID_Info &pid_info = g.pid_accel_z.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}