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Plane: fixes for Q_TRIM_PITCH

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improved documentation and variable names
This commit is contained in:
Andrew Tridgell 2018-11-12 16:00:00 +11:00
parent 33b26da2eb
commit c59b2c156a
2 changed files with 8 additions and 7 deletions
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13
ArduPlane/quadplane.cpp
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@ -359,14 +359,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @User: Standard
AP_GROUPINFO("TAILSIT_THSCMX", 3, QuadPlane, tailsitter.throttle_scale_max, 5),
// @Param: TRIM_PIT
// @Param: TRIM_PITCH
// @DisplayName: Quadplane AHRS trim pitch
// @Description: Compensates for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton
// @Description: This sets the compensation for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton. For tailsitters this is relative to a baseline of 90 degrees.
// @Units: deg
// @Range: -180 +180
// @User: Standard
// @Range: -10 +10
// @Increment: 0.1
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("TRIM_PIT", 4, QuadPlane, quadplane_ahrs_trim_pitch, 0),
AP_GROUPINFO("TRIM_PITCH", 4, QuadPlane, ahrs_trim_pitch, 0),
AP_GROUPEND
};
@ -557,7 +558,7 @@ bool QuadPlane::setup(void)
AP_Param::load_object_from_eeprom(motors, motors_var_info);
// create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view_trim(rotation, (float)quadplane_ahrs_trim_pitch);
ahrs_view = ahrs.create_view(rotation, ahrs_trim_pitch);
if (ahrs_view == nullptr) {
goto failed;
}

2
ArduPlane/quadplane.h
View File

@ -232,7 +232,7 @@ private:
AP_Float transition_decel;
// Quadplane trim, degrees
AP_Float quadplane_ahrs_trim_pitch;
AP_Float ahrs_trim_pitch;
AP_Int16 rc_speed;