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AC_Autotune_Multi: print gains on axis completion

This commit is contained in:
Iampete1 2022-02-04 23:29:54 +00:00 committed by Randy Mackay
parent 0e0f4c86dc
commit 2ccf8af2bd
2 changed files with 30 additions and 0 deletions
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24
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -440,6 +440,30 @@ void AC_AutoTune_Multi::save_tuning_gains()
reset();
}
// report final gains for a given axis to GCS
void AC_AutoTune_Multi::report_final_gains(AxisType test_axis) const
{
switch (test_axis) {
case ROLL:
report_axis_gains("Roll", tune_roll_rp, tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL, tune_roll_rd, tune_roll_sp, tune_roll_accel);
break;
case PITCH:
report_axis_gains("Pitch", tune_pitch_rp, tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL, tune_pitch_rd, tune_pitch_sp, tune_pitch_accel);
break;
case YAW:
report_axis_gains("Yaw", tune_yaw_rp, tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL, 0, tune_yaw_sp, tune_yaw_accel);
break;
}
}
// report gain formating helper
void AC_AutoTune_Multi::report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const
{
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s complete", axis_string);
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s Rate: P:%0.3f, I:%0.3f, D:%0.4f",axis_string,rate_P,rate_I,rate_D);
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s Angle P:%0.3f, Max Accel:%0.0f",axis_string,angle_P,max_accel);
}
// twitching_test_rate - twitching tests
// update min and max and test for end conditions
void AC_AutoTune_Multi::twitching_test_rate(float rate, float rate_target_max, float &meas_rate_min, float &meas_rate_max)

6
libraries/AC_AutoTune/AC_AutoTune_Multi.h
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@ -68,6 +68,9 @@ protected:
// send post test updates to user
void do_post_test_gcs_announcements() override {};
// report final gains for a given axis to GCS
void report_final_gains(AxisType test_axis) const override;
// update gains for the rate P up tune type
void updating_rate_p_up_all(AxisType test_axis) override;
@ -157,6 +160,9 @@ private:
// P is increased until we achieve our target within a reasonable time
void updating_angle_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max);
// report gain formating helper
void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const;
// parameters
AP_Int8 axis_bitmask; // axes to be tuned
AP_Float aggressiveness; // aircraft response aggressiveness to be tuned