From 032201e999059a64c8ae968d10def7d7b19ba584 Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Mon, 13 May 2024 19:31:42 -0400 Subject: [PATCH] Copter: change input_loiter_xxx to input_vel_xxx in sysid mode --- ArduCopter/mode.h | 4 ++-- ArduCopter/mode_systemid.cpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index c578c9b14bd87..928fadfe6fca0 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -1653,8 +1653,8 @@ class ModeSystemId : public Mode { DISTURB_POS_LONG = 15, // longitudinal body axis measured position is being excited DISTURB_VEL_LAT = 16, // lateral body axis measured velocity is being excited DISTURB_VEL_LONG = 17, // longitudinal body axis measured velocity is being excited - INPUT_LOITER_LAT = 18, // lateral body axis commanded velocity is being excited - INPUT_LOITER_LONG = 19, // longitudinal body axis commanded velocity is being excited + INPUT_VEL_LAT = 18, // lateral body axis commanded velocity is being excited + INPUT_VEL_LONG = 19, // longitudinal body axis commanded velocity is being excited }; AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp index 32d15d619d463..d9869389ad3c4 100644 --- a/ArduCopter/mode_systemid.cpp +++ b/ArduCopter/mode_systemid.cpp @@ -332,12 +332,12 @@ void ModeSystemId::run() disturb_state.rotate(attitude_control->get_att_target_euler_rad().z); pos_control->set_disturb_vel_cms(disturb_state); break; - case AxisType::INPUT_LOITER_LAT: + case AxisType::INPUT_VEL_LAT: input_vel.x = 0.0f; input_vel.y = waveform_sample * 100.0f; input_vel.rotate(attitude_control->get_att_target_euler_rad().z); break; - case AxisType::INPUT_LOITER_LONG: + case AxisType::INPUT_VEL_LONG: input_vel.x = waveform_sample * 100.0f; input_vel.y = 0.0f; input_vel.rotate(attitude_control->get_att_target_euler_rad().z); @@ -433,8 +433,8 @@ bool ModeSystemId::is_poscontrol_axis_type() const case AxisType::DISTURB_POS_LONG: case AxisType::DISTURB_VEL_LAT: case AxisType::DISTURB_VEL_LONG: - case AxisType::INPUT_LOITER_LAT: - case AxisType::INPUT_LOITER_LONG: + case AxisType::INPUT_VEL_LAT: + case AxisType::INPUT_VEL_LONG: ret = true; break; default: