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Copter: Added new input types for SID_AXIS parameter

This commit is contained in:
bnsgeyer 2024-01-27 23:06:20 -05:00 committed by Bill Geyer
parent d0cf2240dc
commit f74ccd569a
2 changed files with 21 additions and 21 deletions
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40
ArduCopter/mode.h
View File

@ -1633,26 +1633,26 @@ private:
void log_data() const; void log_data() const;
enum class AxisType { enum class AxisType {
NONE = 0, // none NONE = 0, // none
INPUT_ROLL = 1, // angle input roll axis is being excited INPUT_ROLL = 1, // angle input roll axis is being excited
INPUT_PITCH = 2, // angle pitch axis is being excited INPUT_PITCH = 2, // angle pitch axis is being excited
INPUT_YAW = 3, // angle yaw axis is being excited INPUT_YAW = 3, // angle yaw axis is being excited
RECOVER_ROLL = 4, // angle roll axis is being excited RECOVER_ROLL = 4, // angle roll axis is being excited
RECOVER_PITCH = 5, // angle pitch axis is being excited RECOVER_PITCH = 5, // angle pitch axis is being excited
RECOVER_YAW = 6, // angle yaw axis is being excited RECOVER_YAW = 6, // angle yaw axis is being excited
RATE_ROLL = 7, // rate roll axis is being excited RATE_ROLL = 7, // rate roll axis is being excited
RATE_PITCH = 8, // rate pitch axis is being excited RATE_PITCH = 8, // rate pitch axis is being excited
RATE_YAW = 9, // rate yaw axis is being excited RATE_YAW = 9, // rate yaw axis is being excited
MIX_ROLL = 10, // mixer roll axis is being excited MIX_ROLL = 10, // mixer roll axis is being excited
MIX_PITCH = 11, // mixer pitch axis is being excited MIX_PITCH = 11, // mixer pitch axis is being excited
MIX_YAW = 12, // mixer pitch axis is being excited MIX_YAW = 12, // mixer pitch axis is being excited
MIX_THROTTLE = 13, // mixer throttle axis is being excited MIX_THROTTLE = 13, // mixer throttle axis is being excited
DISTURB_POS_LAT = 14, DISTURB_POS_LAT = 14, // lateral body axis measured position is being excited
DISTURB_POS_LONG = 15, DISTURB_POS_LONG = 15, // longitudinal body axis measured position is being excited
DISTURB_VEL_LAT = 16, DISTURB_VEL_LAT = 16, // lateral body axis measured velocity is being excited
DISTURB_VEL_LONG = 17, DISTURB_VEL_LONG = 17, // longitudinal body axis measured velocity is being excited
INPUT_LOITER_LAT = 18, INPUT_LOITER_LAT = 18, // lateral body axis commanded velocity is being excited
INPUT_LOITER_LONG = 19, INPUT_LOITER_LONG = 19, // longitudinal body axis commanded velocity is being excited
}; };
AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters

2
ArduCopter/mode_systemid.cpp
View File

@ -12,7 +12,7 @@ const AP_Param::GroupInfo ModeSystemId::var_info[] = {
// @DisplayName: System identification axis // @DisplayName: System identification axis
// @Description: Controls which axis are being excited. Set to non-zero to see more parameters // @Description: Controls which axis are being excited. Set to non-zero to see more parameters
// @User: Standard // @User: Standard
// @Values: 0:None, 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, 5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, 11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust // @Values: 0:None, 1:Input Roll Angle, 2:Input Pitch Angle, 3:Input Yaw Angle, 4:Recovery Roll Angle, 5:Recovery Pitch Angle, 6:Recovery Yaw Angle, 7:Rate Roll, 8:Rate Pitch, 9:Rate Yaw, 10:Mixer Roll, 11:Mixer Pitch, 12:Mixer Yaw, 13:Mixer Thrust, 14:Measured Lateral Position, 15:Measured Longitudinal Position, 16:Measured Lateral Velocity, 17:Measured Longitudinal Velocity, 18:Input Lateral Velocity, 19:Input Longitudinal Velocity
AP_GROUPINFO_FLAGS("_AXIS", 1, ModeSystemId, axis, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("_AXIS", 1, ModeSystemId, axis, 0, AP_PARAM_FLAG_ENABLE),
// @Param: _MAGNITUDE // @Param: _MAGNITUDE