2018-12-07 03:52:05 -04:00
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/*
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support for autotune of quadplanes
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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2021-09-10 03:28:21 -03:00
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#include "quadplane.h"
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#define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED && !HAL_MINIMIZE_FEATURES
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2018-12-07 03:52:05 -04:00
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#if QAUTOTUNE_ENABLED
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#include <AC_AutoTune/AC_AutoTune.h>
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class QAutoTune : public AC_AutoTune
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{
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public:
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friend class QuadPlane;
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bool init() override;
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protected:
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float get_pilot_desired_climb_rate_cms(void) const override;
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2019-02-28 07:11:05 -04:00
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void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
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2018-12-07 03:52:05 -04:00
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void init_z_limits() override;
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2018-12-21 22:26:31 -04:00
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void log_pids() override;
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2018-12-07 03:52:05 -04:00
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};
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#endif // QAUTOTUNE_ENABLED
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