/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) {
pid_info = &steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info->desired,
degrees(gyro.z),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
pid_info = &g.pidSpeedThrottle.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
0,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const DataFlash_Class::PID_Info *pid_info;
// steering PID
if (g.gcs_pid_mask & 1) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->desired),
degrees(ahrs.get_yaw_rate_earth()),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// speed to throttle PID
if (g.gcs_pid_mask & 2) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
speed,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void Sub::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
pid_info.desired*0.01f,
degrees(gyro.x),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info.desired*0.01f,
degrees(gyro.y),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 4) {
const AP_Logger::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info.desired*0.01f,
degrees(gyro.z),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 8) {
const AP_Logger::PID_Info &pid_info = pos_control.get_accel_z_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info.desired*0.01f,
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
pid_info.FF*0.01f,
pid_info.P*0.01f,
pid_info.I*0.01f,
pid_info.D*0.01f);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Copter::send_pid_tuning()
{
const Vector3f &gyro = AP::ahrs().get_gyro();
static const PID_TUNING_AXIS axes[] = {
PID_TUNING_ROLL,
PID_TUNING_PITCH,
PID_TUNING_YAW,
PID_TUNING_ACCZ
};
for (uint8_t i=0; i<ARRAY_SIZE(axes); i++) {
if (!(copter.g.gcs_pid_mask & (1<<(axes[i]-1)))) {
continue;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
const AP_Logger::PID_Info *pid_info = nullptr;
float achieved;
switch (axes[i]) {
case PID_TUNING_ROLL:
pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
achieved = degrees(gyro.x);
break;
case PID_TUNING_PITCH:
pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
achieved = degrees(gyro.y);
break;
case PID_TUNING_YAW:
pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
achieved = degrees(gyro.z);
break;
case PID_TUNING_ACCZ:
pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
achieved = -(AP::ahrs().get_accel_ef_blended().z + GRAVITY_MSS);
break;
default:
continue;
}
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info->desired*0.01f,
achieved,
pid_info->FF*0.01f,
pid_info->P*0.01f,
pid_info->I*0.01f,
pid_info->D*0.01f);
}
}
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Tracker::send_pid_tuning()
{
const Parameters &g = tracker.g;
// Pitch PID
if (g.gcs_pid_mask & 1) {
const AP_Logger::PID_Info *pid_info;
pid_info = &g.pidPitch2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// Yaw PID
if (g.gcs_pid_mask & 2) {
const AP_Logger::PID_Info *pid_info;
pid_info = &g.pidYaw2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
if (g.gcs_pid_mask & 1) {
const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info.desired,
degrees(gyro.z),
pid_info.FF,
pid_info.P,
pid_info.I,
pid_info.D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
// sends a single pid info over the provided channel
void GCS_MAVLINK_Plane::send_pid_info(const AP_Logger::PID_Info *pid_info,
const uint8_t axis, const float achieved)
{
if (pid_info == nullptr) {
return;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
mavlink_msg_pid_tuning_send(chan, axis,
pid_info->desired,
achieved,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const AP_Logger::PID_Info *pid_info;
// steering PID
if (g.gcs_pid_mask & 1) {
pid_info = &g2.attitude_control.get_steering_rate_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
degrees(pid_info->desired),
degrees(ahrs.get_yaw_rate_earth()),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// speed to throttle PID
if (g.gcs_pid_mask & 2) {
pid_info = &g2.attitude_control.get_throttle_speed_pid().get_pid_info();
float speed = 0.0f;
g2.attitude_control.get_forward_speed(speed);
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
speed,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// pitch to throttle pid
if (g.gcs_pid_mask & 4) {
pid_info = &g2.attitude_control.get_pitch_to_throttle_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
degrees(pid_info->desired),
degrees(ahrs.pitch),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// left wheel rate control pid
if (g.gcs_pid_mask & 8) {
pid_info = &g2.wheel_rate_control.get_pid(0).get_pid_info();
mavlink_msg_pid_tuning_send(chan, 7,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// right wheel rate control pid
if (g.gcs_pid_mask & 16) {
pid_info = &g2.wheel_rate_control.get_pid(1).get_pid_info();
mavlink_msg_pid_tuning_send(chan, 8,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// sailboat heel to mainsail pid
if (g.gcs_pid_mask & 32) {
pid_info = &g2.attitude_control.get_sailboat_heel_pid().get_pid_info();
mavlink_msg_pid_tuning_send(chan, 9,
pid_info->desired,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
