ardupilot/APMrover2/cruise_learn.cpp

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1.9 KiB
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#include "Rover.h"
// start cruise throttle and speed learning
void Rover::cruise_learn_start()
{
// if disarmed or no speed available do nothing
float speed;
if (!arming.is_armed() || !g2.attitude_control.get_forward_speed(speed)) {
cruise_learn.learning = false;
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning NOT started");
return;
}
// start learning
cruise_learn.learning = true;
cruise_learn.speed_filt.reset(speed);
cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
// To-Do: add dataflash logging of learning started event
}
// update cruise learning with latest speed and throttle
// should be called at 50hz
void Rover::cruise_learn_update()
{
float speed;
if (cruise_learn.learning && g2.attitude_control.get_forward_speed(speed)) {
// update filters with latest speed and throttle
cruise_learn.speed_filt.apply(speed, 0.02f);
cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
return;
}
}
// complete cruise learning and save results
void Rover::cruise_learn_complete()
{
// when switch is moved low, save learned cruise value
if (cruise_learn.learning) {
const float thr = cruise_learn.throttle_filt.get();
const float speed = cruise_learn.speed_filt.get();
if (thr >= 10.0f && thr <= 100.0f && is_positive(speed)) {
g.throttle_cruise.set_and_save(thr);
g.speed_cruise.set_and_save(speed);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learned: Thr:%d Speed:%3.1f", (int)g.throttle_cruise, (double)g.speed_cruise);
} else {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
}
cruise_learn.learning = false;
// To-Do: add dataflash logging of learning completion event
}
}