Rover: pitch PID_TUNING sends degrees

also send FF although it is rarely used
2018-08-08 13:14:40 +09:00 · 2018-08-08 13:14:40 +09:00 · e0fa829665
parent db611e074c
commit e0fa829665
1 changed files with 3 additions and 3 deletions
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@ -217,9 +217,9 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
    if (g.gcs_pid_mask & 4) {
        pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
        mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
-                                    pid_info->desired,
-                                    ahrs.pitch,
-                                    0,
+                                    degrees(pid_info->desired),
+                                    degrees(ahrs.pitch),
+                                    pid_info->FF,
                                    pid_info->P,
                                    pid_info->I,
                                    pid_info->D);