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AC_AutoTune: Move functions out of HAL_LOGGING_ENABLED

This commit is contained in:
Leonard Hall 2024-05-28 13:20:45 +09:30 committed by Peter Barker
parent 20edb9185d
commit 0accc61107
1 changed files with 32 additions and 32 deletions
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64
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -1097,38 +1097,6 @@ void AC_AutoTune_Multi::Log_AutoTuneDetails()
Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
}
float AC_AutoTune_Multi::target_angle_max_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MAX_RP_SCALE;
}
float AC_AutoTune_Multi::target_angle_max_y_cd() const
{
// Aircraft with small lean angle will generally benefit from proportional smaller yaw twitch size
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MAX_Y_SCALE;
}
float AC_AutoTune_Multi::target_angle_min_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MIN_RP_SCALE;
}
float AC_AutoTune_Multi::target_angle_min_y_cd() const
{
// Aircraft with small lean angle will generally benefit from proportional smaller yaw twitch size
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MIN_Y_SCALE;
}
float AC_AutoTune_Multi::angle_lim_max_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_ANGLE_ABORT_RP_SCALE;
}
float AC_AutoTune_Multi::angle_lim_neg_rpy_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_ANGLE_NEG_RP_SCALE;
}
// @LoggerMessage: ATUN
// @Description: Copter/QuadPlane AutoTune
// @Vehicles: Copter, Plane
@ -1184,6 +1152,38 @@ void AC_AutoTune_Multi::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds
}
#endif // HAL_LOGGING_ENABLED
float AC_AutoTune_Multi::target_angle_max_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MAX_RP_SCALE;
}
float AC_AutoTune_Multi::target_angle_max_y_cd() const
{
// Aircraft with small lean angle will generally benefit from proportional smaller yaw twitch size
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MAX_Y_SCALE;
}
float AC_AutoTune_Multi::target_angle_min_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MIN_RP_SCALE;
}
float AC_AutoTune_Multi::target_angle_min_y_cd() const
{
// Aircraft with small lean angle will generally benefit from proportional smaller yaw twitch size
return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_ANGLE_MIN_Y_SCALE;
}
float AC_AutoTune_Multi::angle_lim_max_rp_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_ANGLE_ABORT_RP_SCALE;
}
float AC_AutoTune_Multi::angle_lim_neg_rpy_cd() const
{
return attitude_control->lean_angle_max_cd() * AUTOTUNE_ANGLE_NEG_RP_SCALE;
}
void AC_AutoTune_Multi::twitch_test_init()
{
float target_max_rate;