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AC_AttitudeControl: added get_rpy_srate()

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and remove dmod binding, as slew rate turned out to be more useful
This commit is contained in:
Andrew Tridgell 2022-04-30 19:25:33 +10:00
parent b56bd41034
commit 99a6cb69f8
2 changed files with 9 additions and 9 deletions
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12
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -1133,12 +1133,12 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
} }
/* /*
get the PDmod value for roll, pitch and yaw, for oscillation get the slew rate for roll, pitch and yaw, for oscillation
detection in lua scripts detection in lua scripts
*/ */
void AC_AttitudeControl::get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod) void AC_AttitudeControl::get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate)
{ {
roll_dmod = get_rate_roll_pid().get_pid_info().Dmod; roll_srate = get_rate_roll_pid().get_pid_info().slew_rate;
pitch_dmod = get_rate_pitch_pid().get_pid_info().Dmod; pitch_srate = get_rate_pitch_pid().get_pid_info().slew_rate;
yaw_dmod = get_rate_yaw_pid().get_pid_info().Dmod; yaw_srate = get_rate_yaw_pid().get_pid_info().slew_rate;
} }

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -368,9 +368,9 @@ public:
// enable inverted flight on backends that support it // enable inverted flight on backends that support it
virtual void set_inverted_flight(bool inverted) {} virtual void set_inverted_flight(bool inverted) {}
// get the PDmod value for roll, pitch and yaw, for oscillation detection in lua scripts // get the slew rate value for roll, pitch and yaw, for oscillation detection in lua scripts
void get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod); void get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate);
// User settable parameters // User settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];