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Sub: Repair build

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This commit is contained in:
Rustom Jehangir 2016-04-04 22:43:42 -07:00 committed by Andrew Tridgell
parent 7e7b7c9afb
commit 1252f6c03e
5 changed files with 11 additions and 7 deletions
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2
ArduSub/ArduSub.cpp
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@ -390,7 +390,7 @@ void Sub::ten_hz_logging_loop()
if (should_log(MASK_LOG_PID)) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, gattitude_control.get_rate_yaw_pid().get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
}
}

2
ArduSub/Attitude.cpp
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@ -277,7 +277,7 @@ float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_al
}
// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
void Sub::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
void Sub::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
{
// shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_accel_z.set_integrator((pilot_throttle-throttle_average) * 1000.0f);

1
ArduSub/Sub.cpp
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@ -30,7 +30,6 @@ Sub::Sub(void) :
FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)),
control_mode(STABILIZE),
motors(MAIN_LOOP_RATE),
#endif
scaleLongDown(1),
wp_bearing(0),
home_bearing(0),

3
ArduSub/config.h
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@ -339,6 +339,9 @@
#ifndef LAND_WITH_DELAY_MS
# define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
#endif
#ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
#endif
//////////////////////////////////////////////////////////////////////////////
// Landing Detector

10
ArduSub/defines.h
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@ -348,10 +348,11 @@ enum ThrowModeState {
#define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only
#define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only
#define DATA_EKF_ALT_RESET 60
#define DATA_SURFACED 61 // Sub only
#define DATA_NOT_SURFACED 62 // Sub only
#define DATA_BOTTOMED 63 // Sub only
#define DATA_NOT_BOTTOMED 64 // Sub only
#define DATA_LAND_CANCELLED_BY_PILOT 61
#define DATA_SURFACED 62 // Sub only
#define DATA_NOT_SURFACED 63 // Sub only
#define DATA_BOTTOMED 64 // Sub only
#define DATA_NOT_BOTTOMED 65 // Sub only
// Centi-degrees to radians
#define DEGX100 5729.57795f
@ -442,3 +443,4 @@ enum ThrowModeState {
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)