ardupilot/ArduPlane/tuning.h

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#pragma once
#include <AP_Tuning/AP_Tuning_config.h>
#if AP_TUNING_ENABLED
#include <AP_Tuning/AP_Tuning.h>
/*
Plane transmitter tuning
*/
class AP_Tuning_Plane : public AP_Tuning
{
private:
// table of tuning sets
static const tuning_set tuning_sets[];
// table of tuning parameter names for reporting
static const tuning_name tuning_names[];
public:
// constructor
AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {}
static const struct AP_Param::GroupInfo var_info[];
private:
// individual tuning parameters
enum tuning_func {
TUNING_NONE = 0,
// quadplane tuning
TUNING_RATE_ROLL_PI = 1,
TUNING_RATE_ROLL_P = 2,
TUNING_RATE_ROLL_I = 3,
TUNING_RATE_ROLL_D = 4,
TUNING_RATE_PITCH_PI = 5,
TUNING_RATE_PITCH_P = 6,
TUNING_RATE_PITCH_I = 7,
TUNING_RATE_PITCH_D = 8,
TUNING_RATE_YAW_PI = 9,
TUNING_RATE_YAW_P = 10,
TUNING_RATE_YAW_I = 11,
TUNING_RATE_YAW_D = 12,
TUNING_ANG_ROLL_P = 13,
TUNING_ANG_PITCH_P = 14,
TUNING_ANG_YAW_P = 15,
TUNING_PXY_P = 16,
TUNING_PZ_P = 17,
TUNING_VXY_P = 18,
TUNING_VXY_I = 19,
TUNING_VZ_P = 20,
TUNING_AZ_P = 21,
TUNING_AZ_I = 22,
TUNING_AZ_D = 23,
TUNING_RATE_PITCH_FF = 24,
TUNING_RATE_ROLL_FF = 25,
TUNING_RATE_YAW_FF = 26,
// fixed wing tuning
TUNING_FIXED_WING_BASE = 50,
TUNING_RLL_P = 50,
TUNING_RLL_I = 51,
TUNING_RLL_D = 52,
TUNING_RLL_FF = 53,
TUNING_PIT_P = 54,
TUNING_PIT_I = 55,
TUNING_PIT_D = 56,
TUNING_PIT_FF = 57,
TUNING_Q_FWD_THR = 58,
};
/*
sets of tuning values, chosen with TUNE_PARMSET over 100
*/
enum tuning_sets {
TUNING_SET_RATE_ROLL_PITCH = 1,
TUNING_SET_RATE_ROLL = 2,
TUNING_SET_RATE_PITCH = 3,
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TUNING_SET_RATE_YAW = 4,
TUNING_SET_ANG_ROLL_PITCH = 5,
TUNING_SET_VXY = 6,
TUNING_SET_AZ = 7,
TUNING_SET_RATE_PITCHDP = 8,
TUNING_SET_RATE_ROLLDP = 9,
TUNING_SET_RATE_YAWDP = 10,
};
AP_Float *get_param_pointer(uint8_t parm) override;
void save_value(uint8_t parm) override;
void reload_value(uint8_t parm) override;
void set_value(uint8_t parm, float value) override;
// tuning set arrays
static const uint8_t tuning_set_rate_roll_pitch[];
static const uint8_t tuning_set_rate_roll[];
static const uint8_t tuning_set_rate_pitch[];
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static const uint8_t tuning_set_rate_yaw[];
static const uint8_t tuning_set_ang_roll_pitch[];
static const uint8_t tuning_set_vxy[];
static const uint8_t tuning_set_az[];
static const uint8_t tuning_set_rate_pitchDP[];
static const uint8_t tuning_set_rate_rollDP[];
static const uint8_t tuning_set_rate_yawDP[];
// mask of what params have been set
uint64_t have_set;
};
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#endif // AP_TUNING_ENABLED