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Rover: send steering PID tuning to GCS in most modes

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Using manual_steering and auto_throttle is not perfectly correct because we will send steering rate PID info in HOLD mode but will not send throttle PID info in Steering mode
This commit is contained in:
Randy Mackay 2017-11-28 20:20:24 +09:00
parent 26f50f6055
commit 5b7cd31221
1 changed files with 3 additions and 5 deletions
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8
APMrover2/GCS_Mavlink.cpp
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@ -222,7 +222,7 @@ void Rover::send_rangefinder(mavlink_channel_t chan)
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) {
if ((g.gcs_pid_mask & 1) && (!control_mode->manual_steering())) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->desired),
@ -235,7 +235,7 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
return;
}
}
if (g.gcs_pid_mask & 2) {
if ((g.gcs_pid_mask & 2) && (control_mode->auto_throttle())) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
@ -591,9 +591,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE);
if (rover.control_mode->is_autopilot_mode()) {
send_message(MSG_PID_TUNING);
}
send_message(MSG_PID_TUNING);
}
if (gcs().out_of_time()) {