From 8ce6964948029a1144909acb4865a9ef226bfe70 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 28 Feb 2024 23:14:23 +1100 Subject: [PATCH] AC_AttitudeControl: make logging methods public/static so Blimp can use them --- libraries/AC_AttitudeControl/AC_PosControl.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 68827e214d..34cad1bfdf 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -401,6 +401,10 @@ public: static const struct AP_Param::GroupInfo var_info[]; + static void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + protected: // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain) @@ -487,13 +491,9 @@ protected: // return true if on a real vehicle or SITL with lock-step scheduling bool has_good_timing(void) const; - void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); - void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); - void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); - private: // convenience method for writing out the identical PSCE, PSCN, PSCD - and // to save bytes - void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); + static void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel); };