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APM_Control: fill in Act field of PID logs for plane

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Andrew Tridgell 2019-01-27 16:42:16 +11:00 committed by Randy Mackay
parent 557a20eaa7
commit d7f90963ea
3 changed files with 5 additions and 1 deletions
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3
libraries/APM_Control/AP_PitchController.cpp
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@ -187,6 +187,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
_pid_info.D = rate_error * gains.D * scaler; _pid_info.D = rate_error * gains.D * scaler;
_last_out = _pid_info.D + _pid_info.FF + _pid_info.P; _last_out = _pid_info.D + _pid_info.FF + _pid_info.P;
_pid_info.desired = desired_rate; _pid_info.desired = desired_rate;
_pid_info.actual = achieved_rate;
if (autotune.running && aspeed > aparm.airspeed_min) { if (autotune.running && aspeed > aparm.airspeed_min) {
// let autotune have a go at the values // let autotune have a go at the values
@ -336,4 +337,4 @@ int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool
void AP_PitchController::reset_I() void AP_PitchController::reset_I()
{ {
_pid_info.I = 0; _pid_info.I = 0;
} }

1
libraries/APM_Control/AP_RollController.cpp
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@ -161,6 +161,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
_pid_info.P = desired_rate * kp_ff * scaler; _pid_info.P = desired_rate * kp_ff * scaler;
_pid_info.FF = desired_rate * k_ff * scaler; _pid_info.FF = desired_rate * k_ff * scaler;
_pid_info.desired = desired_rate; _pid_info.desired = desired_rate;
_pid_info.actual = achieved_rate;
_last_out = _pid_info.FF + _pid_info.P + _pid_info.D; _last_out = _pid_info.FF + _pid_info.P + _pid_info.D;

2
libraries/APM_Control/AP_SteerController.cpp
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@ -147,6 +147,8 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
if (_reverse) { if (_reverse) {
yaw_rate_earth *= -1.0f; yaw_rate_earth *= -1.0f;
} }
_pid_info.actual = yaw_rate_earth;
float rate_error = (desired_rate - yaw_rate_earth) * scaler; float rate_error = (desired_rate - yaw_rate_earth) * scaler;
// Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law // Calculate equivalent gains so that values for K_P and K_I can be taken across from the old PID law