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Plane: align GCS PID with logged

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Iampete1 2020-05-18 13:11:34 +01:00 committed by Andrew Tridgell
parent 96f75093fe
commit f9ff8e5f11
1 changed files with 8 additions and 8 deletions
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16
ArduPlane/GCS_Mavlink.cpp
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@ -345,9 +345,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
} }
const Parameters &g = plane.g; const Parameters &g = plane.g;
AP_AHRS &ahrs = AP::ahrs();
const Vector3f &gyro = ahrs.get_gyro();
const AP_Logger::PID_Info *pid_info; const AP_Logger::PID_Info *pid_info;
if (g.gcs_pid_mask & TUNING_BITS_ROLL) { if (g.gcs_pid_mask & TUNING_BITS_ROLL) {
if (plane.quadplane.in_vtol_mode()) { if (plane.quadplane.in_vtol_mode()) {
@ -355,7 +353,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
} else { } else {
pid_info = &plane.rollController.get_pid_info(); pid_info = &plane.rollController.get_pid_info();
} }
send_pid_info(pid_info, PID_TUNING_ROLL, degrees(gyro.x)); send_pid_info(pid_info, PID_TUNING_ROLL, pid_info->actual);
} }
if (g.gcs_pid_mask & TUNING_BITS_PITCH) { if (g.gcs_pid_mask & TUNING_BITS_PITCH) {
if (plane.quadplane.in_vtol_mode()) { if (plane.quadplane.in_vtol_mode()) {
@ -363,7 +361,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
} else { } else {
pid_info = &plane.pitchController.get_pid_info(); pid_info = &plane.pitchController.get_pid_info();
} }
send_pid_info(pid_info, PID_TUNING_PITCH, degrees(gyro.y)); send_pid_info(pid_info, PID_TUNING_PITCH, pid_info->actual);
} }
if (g.gcs_pid_mask & TUNING_BITS_YAW) { if (g.gcs_pid_mask & TUNING_BITS_YAW) {
if (plane.quadplane.in_vtol_mode()) { if (plane.quadplane.in_vtol_mode()) {
@ -371,18 +369,20 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
} else { } else {
pid_info = &plane.yawController.get_pid_info(); pid_info = &plane.yawController.get_pid_info();
} }
send_pid_info(pid_info, PID_TUNING_YAW, degrees(gyro.z)); send_pid_info(pid_info, PID_TUNING_YAW, pid_info->actual);
} }
if (g.gcs_pid_mask & TUNING_BITS_STEER) { if (g.gcs_pid_mask & TUNING_BITS_STEER) {
send_pid_info(&plane.steerController.get_pid_info(), PID_TUNING_STEER, degrees(gyro.z)); pid_info = &plane.steerController.get_pid_info();
send_pid_info(pid_info, PID_TUNING_STEER, pid_info->actual);
} }
if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) { if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) {
AP_AHRS &ahrs = AP::ahrs();
const Vector3f &gyro = ahrs.get_gyro();
send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z)); send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z));
} }
if (g.gcs_pid_mask & TUNING_BITS_ACCZ && plane.quadplane.in_vtol_mode()) { if (g.gcs_pid_mask & TUNING_BITS_ACCZ && plane.quadplane.in_vtol_mode()) {
const Vector3f &accel = ahrs.get_accel_ef();
pid_info = &plane.quadplane.pos_control->get_accel_z_pid().get_pid_info(); pid_info = &plane.quadplane.pos_control->get_accel_z_pid().get_pid_info();
send_pid_info(pid_info, PID_TUNING_ACCZ, -accel.z); send_pid_info(pid_info, PID_TUNING_ACCZ, pid_info->actual);
} }
} }