AC_AttitudeControl: add get_rate_ef_targets accessor

2023-01-06 16:56:49 +09:00 · 2023-01-06 16:56:49 +09:00 · fa77792d69
parent d7793d2cc4
commit fa77792d69
1 changed files with 3 additions and 0 deletions
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@ -272,6 +272,9 @@ public:
    // Return angular velocity in radians used in the angular velocity controller
    Vector3f rate_bf_targets() const { return _ang_vel_body + _sysid_ang_vel_body; }

+    // return the angular velocity of the target (setpoint) attitude rad/s
+    const Vector3f& get_rate_ef_targets() const { return _euler_rate_target; }
+
    // Enable or disable body-frame feed forward
    void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled.set(enable_or_disable); }