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AP_Logger: Write_PID: add PD sum limit flag

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Iampete1 2023-09-12 20:51:09 +01:00 committed by Andrew Tridgell
parent 5def9e7038
commit 93ccec3203
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Logger/LogFile.cpp
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@ -475,12 +475,16 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
{ {
enum class log_PID_Flags : uint8_t { enum class log_PID_Flags : uint8_t {
LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active
PD_SUM_LIMIT = 1U<<1, // true if the PD sum limit is active
}; };
uint8_t flags = 0; uint8_t flags = 0;
if (info.limit) { if (info.limit) {
flags |= (uint8_t)log_PID_Flags::LIMIT; flags |= (uint8_t)log_PID_Flags::LIMIT;
} }
if (info.PD_limit) {
flags |= (uint8_t)log_PID_Flags::PD_SUM_LIMIT;
}
const struct log_PID pkt{ const struct log_PID pkt{
LOG_PACKET_HEADER_INIT(msg_type), LOG_PACKET_HEADER_INIT(msg_type),