ardupilot/ArduPlane/qautotune.cpp

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#include "Plane.h"
#include "qautotune.h"
#if QAUTOTUNE_ENABLED
/*
initialise QAUTOTUNE mode
*/
bool QAutoTune::init()
{
if (!plane.quadplane.available()) {
return false;
}
// use position hold while tuning if we were in QLOITER
bool position_hold = (plane.previous_mode == &plane.mode_qloiter);
return init_internals(position_hold,
plane.quadplane.attitude_control,
plane.quadplane.pos_control,
plane.quadplane.ahrs_view,
&plane.quadplane.inertial_nav);
}
float QAutoTune::get_pilot_desired_climb_rate_cms(void) const
{
return plane.quadplane.get_pilot_desired_climb_rate_cms();
}
void QAutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
{
if (plane.channel_roll->get_control_in() == 0 && plane.channel_pitch->get_control_in() == 0) {
des_roll_cd = 0;
des_pitch_cd = 0;
} else {
des_roll_cd = plane.nav_roll_cd;
des_pitch_cd = plane.nav_pitch_cd;
}
yaw_rate_cds = plane.quadplane.get_desired_yaw_rate_cds();
}
void QAutoTune::init_z_limits()
{
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// set vertical speed and acceleration limits
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plane.quadplane.pos_control->set_max_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
plane.quadplane.pilot_velocity_z_max_up,
plane.quadplane.pilot_accel_z);
plane.quadplane.pos_control->set_correction_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
plane.quadplane.pilot_velocity_z_max_up,
plane.quadplane.pilot_accel_z);
}
#if HAL_LOGGING_ENABLED
// log VTOL PIDs for during twitch
void QAutoTune::log_pids(void)
{
AP::logger().Write_PID(LOG_PIQR_MSG, plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
AP::logger().Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
AP::logger().Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
}
#endif
#endif // QAUTOTUNE_ENABLED