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AC_AttitudeControl: rename get_angle_P_scale_logging()

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Andy Piper 2023-08-09 14:33:55 +01:00 committed by Andrew Tridgell
parent f25e67e3eb
commit 31a2acb7ad
2 changed files with 4 additions and 4 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -1037,7 +1037,7 @@ Vector3f AC_AttitudeControl::update_ang_vel_target_from_att_error(const Vector3f
rate_target_ang_vel.z = angleP_yaw * attitude_error_rot_vec_rad.z; rate_target_ang_vel.z = angleP_yaw * attitude_error_rot_vec_rad.z;
} }
// reset angle P scaling, saving used value for logging // reset angle P scaling, saving used value
_angle_P_scale_used = _angle_P_scale; _angle_P_scale_used = _angle_P_scale;
_angle_P_scale = VECTORF_111; _angle_P_scale = VECTORF_111;

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -395,8 +395,8 @@ public:
// purposes // purposes
void set_angle_P_scale_mult(const Vector3f &angle_P_scale) { _angle_P_scale *= angle_P_scale; } void set_angle_P_scale_mult(const Vector3f &angle_P_scale) { _angle_P_scale *= angle_P_scale; }
// get the value of the angle P scale that was used in the last loop, for logging // get the value of the angle P scale that was used in the last loop
const Vector3f &get_angle_P_scale_logging(void) const { return _angle_P_scale_used; } const Vector3f &get_last_angle_P_scale(void) const { return _angle_P_scale_used; }
// setup a one loop PD scale multiplier, multiplying by any // setup a one loop PD scale multiplier, multiplying by any
// previously applied scale from this loop. This allows for more // previously applied scale from this loop. This allows for more
@ -531,7 +531,7 @@ protected:
// angle P scaling vector for roll, pitch, yaw // angle P scaling vector for roll, pitch, yaw
Vector3f _angle_P_scale{1,1,1}; Vector3f _angle_P_scale{1,1,1};
// angle scale used for last loop, used for logging // angle scale used for last loop, used for logging and quadplane angle P scaling
Vector3f _angle_P_scale_used; Vector3f _angle_P_scale_used;
// PD scaling vector for roll, pitch, yaw // PD scaling vector for roll, pitch, yaw