diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp index b283d47329..dffe4f0cf6 100644 --- a/libraries/APM_Control/AP_AutoTune.cpp +++ b/libraries/APM_Control/AP_AutoTune.cpp @@ -163,7 +163,7 @@ const char *AP_AutoTune::axis_string(void) const /* one update cycle of the autotuner */ -void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_err_deg) +void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg) { if (!running) { return; diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h index 3030fed6a9..3e33272b26 100644 --- a/libraries/APM_Control/AP_AutoTune.h +++ b/libraries/APM_Control/AP_AutoTune.h @@ -5,6 +5,7 @@ #include #include #include +#include class AP_AutoTune { @@ -54,7 +55,7 @@ public: // update called whenever autotune mode is active. This is // called at the main loop rate - void update(AP_Logger::PID_Info &pid_info, float scaler, float angle_err_deg); + void update(AP_PIDInfo &pid_info, float scaler, float angle_err_deg); // are we running? bool running; diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h index 94553bbe66..359ca12664 100644 --- a/libraries/APM_Control/AP_PitchController.h +++ b/libraries/APM_Control/AP_PitchController.h @@ -3,7 +3,6 @@ #include #include #include "AP_AutoTune.h" -#include #include #include @@ -34,7 +33,7 @@ public: void autotune_start(void); void autotune_restore(void); - const AP_Logger::PID_Info& get_pid_info(void) const + const AP_PIDInfo& get_pid_info(void) const { return _pid_info; } @@ -59,7 +58,7 @@ private: AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1}; float angle_err_deg; - AP_Logger::PID_Info _pid_info; + AP_PIDInfo _pid_info; float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed, bool ground_mode); float _get_coordination_rate_offset(float &aspeed, bool &inverted) const; diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h index fda999d861..81cd84665c 100644 --- a/libraries/APM_Control/AP_RollController.h +++ b/libraries/APM_Control/AP_RollController.h @@ -3,7 +3,6 @@ #include #include #include "AP_AutoTune.h" -#include #include #include @@ -34,7 +33,7 @@ public: void autotune_start(void); void autotune_restore(void); - const AP_Logger::PID_Info& get_pid_info(void) const + const AP_PIDInfo& get_pid_info(void) const { return _pid_info; } @@ -64,7 +63,7 @@ private: AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1}; float angle_err_deg; - AP_Logger::PID_Info _pid_info; + AP_PIDInfo _pid_info; float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, bool ground_mode); }; diff --git a/libraries/APM_Control/AP_SteerController.h b/libraries/APM_Control/AP_SteerController.h index 6ecb938024..301919f3a5 100644 --- a/libraries/APM_Control/AP_SteerController.h +++ b/libraries/APM_Control/AP_SteerController.h @@ -2,7 +2,7 @@ #include #include -#include +#include class AP_SteerController { public: @@ -44,7 +44,7 @@ public: static const struct AP_Param::GroupInfo var_info[]; - const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; } + const class AP_PIDInfo& get_pid_info(void) const { return _pid_info; } void set_reverse(bool reverse) { _reverse = reverse; @@ -65,7 +65,7 @@ private: AP_Float _deratefactor; AP_Float _mindegree; - AP_Logger::PID_Info _pid_info {}; + AP_PIDInfo _pid_info {}; bool _reverse; }; diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h index c0039ec707..d8b2eb7d65 100644 --- a/libraries/APM_Control/AP_YawController.h +++ b/libraries/APM_Control/AP_YawController.h @@ -2,7 +2,6 @@ #include #include -#include #include #include "AP_AutoTune.h" @@ -36,7 +35,7 @@ public: _pid_info.I *= 0.995f; } - const AP_Logger::PID_Info& get_pid_info(void) const + const AP_PIDInfo& get_pid_info(void) const { return _pid_info; } @@ -69,5 +68,5 @@ private: AP_AutoTune *autotune; bool failed_autotune_alloc; - AP_Logger::PID_Info _pid_info; + AP_PIDInfo _pid_info; }; diff --git a/libraries/APM_Control/AR_AttitudeControl.h b/libraries/APM_Control/AR_AttitudeControl.h index d466f1c4e0..d5dd9923e0 100644 --- a/libraries/APM_Control/AR_AttitudeControl.h +++ b/libraries/APM_Control/AR_AttitudeControl.h @@ -82,7 +82,7 @@ public: AC_PID& get_steering_rate_pid() { return _steer_rate_pid; } AC_PID& get_pitch_to_throttle_pid() { return _pitch_to_throttle_pid; } AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; } - const AP_Logger::PID_Info& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; } + const AP_PIDInfo& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; } // get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis). returns true on success bool get_forward_speed(float &speed) const; @@ -143,7 +143,7 @@ private: uint32_t _stop_last_ms; // system time the vehicle was at a complete stop bool _throttle_limit_low; // throttle output was limited from going too low (used to reduce i-term buildup) bool _throttle_limit_high; // throttle output was limited from going too high (used to reduce i-term buildup) - AP_Logger::PID_Info _throttle_speed_pid_info; // local copy of throttle_speed controller's PID info to allow reporting of unusual FF + AP_PIDInfo _throttle_speed_pid_info; // local copy of throttle_speed controller's PID info to allow reporting of unusual FF // balancebot pitch control uint32_t _balance_last_ms = 0;