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Rover: GCS_PID_MASK supports Velocity North and East

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This commit is contained in:
Randy Mackay 2021-11-26 13:02:20 +09:00
parent 95c69811cb
commit 315c5fb7d7
2 changed files with 36 additions and 2 deletions
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34
Rover/GCS_Mavlink.cpp
View File

@ -288,6 +288,40 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
return;
}
}
// Position Controller Velocity North PID
if (g.gcs_pid_mask & 64) {
pid_info = &g2.pos_control.get_vel_pid().get_pid_info_x();
mavlink_msg_pid_tuning_send(chan, 10,
pid_info->target,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D,
pid_info->slew_rate,
pid_info->Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// Position Controller Velocity East PID
if (g.gcs_pid_mask & 128) {
pid_info = &g2.pos_control.get_vel_pid().get_pid_info_y();
mavlink_msg_pid_tuning_send(chan, 11,
pid_info->target,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D,
pid_info->slew_rate,
pid_info->Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
void Rover::send_wheel_encoder_distance(const mavlink_channel_t chan)

4
Rover/Parameters.cpp
View File

@ -63,8 +63,8 @@ const AP_Param::Info Rover::var_info[] = {
// @DisplayName: GCS PID tuning mask
// @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
// @User: Advanced
// @Values: 0:None,1:Steering,2:Throttle,4:Pitch,8:Left Wheel,16:Right Wheel,32:Sailboat Heel
// @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel
// @Values: 0:None,1:Steering,2:Throttle,4:Pitch,8:Left Wheel,16:Right Wheel,32:Sailboat Heel,64:Velocity North,128:Velocity East
// @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel,6:Velocity North,7:Velocity East
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
// @Param: AUTO_TRIGGER_PIN