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AC_AutoTune: add documentation for ATUN log message

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Peter Barker 2020-03-20 16:18:53 +11:00 committed by Peter Barker
parent fa50b5f76d
commit 1065317332
1 changed files with 13 additions and 0 deletions
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13
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -1690,6 +1690,19 @@ void AC_AutoTune::get_poshold_attitude(float &roll_cd_out, float &pitch_cd_out,
yaw_cd_out = target_yaw_cd;
}
// @LoggerMessage: ATUN
// @Description: Copter/QuadPlane AutoTune
// @Vehicles: Copter, Plane
// @Field: TimeUS: microseconds since system startup
// @Field: TuneStep: step in autotune process
// @Field: Targ: target angle or rate, depending on tuning step
// @Field: Min: measured minimum target angle or rate
// @Field: Max: measured maximum target angle or rate
// @Field: RP: new rate gain P term
// @Field: RD: new rate gain D term
// @Field: SP: new angle P term
// @Field: ddt: maximum measured twitching acceleration
// Write an Autotune data packet
void AC_AutoTune::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
{