Plane: ATT.DesPitch now reports actual target, not nav output

ArduPilot · Jan 2, 2025 · 72a3e2e · 72a3e2e
1 parent e1fd90b
commit 72a3e2e
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
@@ -209,7 +209,7 @@ float Plane::stabilize_pitch_get_pitch_out()
     const bool quadplane_in_frwd_transition = false;
 #endif
 
-    int32_t demanded_pitch = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
+    demanded_pitch_cd = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
     bool disable_integrator = false;
     if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
         disable_integrator = true;
@@ -224,10 +224,10 @@ float Plane::stabilize_pitch_get_pitch_out()
         !control_mode->does_auto_throttle() &&
         flare_mode == FlareMode::ENABLED_PITCH_TARGET &&
         throttle_at_zero()) {
-        demanded_pitch = landing.get_pitch_cd();
+        demanded_pitch_cd = landing.get_pitch_cd();
     }
 
-    return pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor, speed_scaler, disable_integrator,
+    return pitchController.get_servo_out(demanded_pitch_cd - ahrs.pitch_sensor, speed_scaler, disable_integrator,
                                          ground_mode && !(plane.flight_option_enabled(FlightOptions::DISABLE_GROUND_PID_SUPPRESSION)));
 }
 

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
@@ -7,7 +7,7 @@ void Plane::Log_Write_Attitude(void)
 {
     Vector3f targets {       // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
         nav_roll_cd * 0.01f,
-        nav_pitch_cd * 0.01f,
+        demanded_pitch_cd * 0.01f,
         0 //Plane does not have the concept of navyaw. This is a placeholder.
     };
 

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -668,9 +668,12 @@ class Plane : public AP_Vehicle {
     // The instantaneous desired bank angle.  Hundredths of a degree
     int32_t nav_roll_cd;
 
-    // The instantaneous desired pitch angle.  Hundredths of a degree
+    // The instantaneous navigator-commanded pitch angle. Hundredths of a degree
     int32_t nav_pitch_cd;
 
+    // The instantaneous desired pitch angle. Hundredths of a degree.
+    int32_t demanded_pitch_cd;
+
     // the aerodynamic load factor. This is calculated from the demanded
     // roll before the roll is clipped, using 1/sqrt(cos(nav_roll))
     float aerodynamic_load_factor = 1.0f;