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AC_AutoTune: emit a warning every second while pilot overrides active

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This commit is contained in:
Peter Barker 2019-02-28 22:44:22 +11:00 committed by Randy Mackay
parent 1ac74e2fe5
commit 020aa6bd49
2 changed files with 10 additions and 3 deletions
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11
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -363,6 +363,7 @@ void AC_AutoTune::run()
const float target_climb_rate_cms = get_pilot_desired_climb_rate_cms();
const bool zero_rp_input = is_zero(target_roll_cd) && is_zero(target_pitch_cd);
const uint32_t now = AP_HAL::millis();
if (!zero_rp_input || !is_zero(target_yaw_rate_cds) || !is_zero(target_climb_rate_cms)) {
if (!pilot_override) {
pilot_override = true;
@ -371,13 +372,12 @@ void AC_AutoTune::run()
attitude_control->use_sqrt_controller(true);
}
// reset pilot override time
override_time = AP_HAL::millis();
override_time = now;
if (!zero_rp_input) {
// only reset position on roll or pitch input
have_position = false;
}
} else if (pilot_override) {
uint32_t now = AP_HAL::millis();
// check if we should resume tuning after pilot's override
if (now - override_time > AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS) {
pilot_override = false; // turn off pilot override
@ -389,7 +389,12 @@ void AC_AutoTune::run()
desired_yaw_cd = ahrs_view->yaw_sensor;
}
}
if (pilot_override) {
if (now - last_pilot_override_warning > 1000) {
gcs().send_text(MAV_SEVERITY_INFO, "AUTOTUNE: pilot overrides active");
last_pilot_override_warning = now;
}
}
if (zero_rp_input) {
// pilot input on throttle and yaw will still use position hold if enabled
get_poshold_attitude(target_roll_cd, target_pitch_cd, desired_yaw_cd);

2
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -215,6 +215,8 @@ private:
float rotation_rate;
float roll_cd, pitch_cd;
uint32_t last_pilot_override_warning;
struct {
LevelIssue issue{LevelIssue::NONE};
float maximum;