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Rover: pitch PID_TUNING sends degrees 

also send FF although it is rarely used
This commit is contained in:
Randy Mackay 2018-08-08 13:14:40 +09:00
parent db611e074c
commit e0fa829665
1 changed files with 3 additions and 3 deletions
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6
APMrover2/GCS_Mavlink.cpp
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@ -217,9 +217,9 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
if (g.gcs_pid_mask & 4) { if (g.gcs_pid_mask & 4) {
pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info(); pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info->desired, degrees(pid_info->desired),
ahrs.pitch, degrees(ahrs.pitch),
0, pid_info->FF,
pid_info->P, pid_info->P,
pid_info->I, pid_info->I,
pid_info->D); pid_info->D);