AC_AutoTune: adding comments to code

libraries/AC_AutoTune/AC_AutoTune_Heli.cpp

@@ -553,6 +553,7 @@ void AC_AutoTune_Heli::updating_rate_ff_up(float &tune_ff, float rate_target, fl
     }
 }
 
+// updating_rate_p_up - uses maximum allowable gain determined from max_gain test to determine rate p gain that does not exceed exceed max response gain
 void AC_AutoTune_Heli::updating_rate_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_p)
 {
     float test_freq_incr = 0.25f * 3.14159f * 2.0f;
@@ -631,6 +632,7 @@ void AC_AutoTune_Heli::updating_rate_p_up(float &tune_p, float *freq, float *gai
     }
 }
 
+// updating_rate_d_up - uses maximum allowable gain determined from max_gain test to determine rate d gain where the response gain is at a minimum
 void AC_AutoTune_Heli::updating_rate_d_up(float &tune_d, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_d)
 {
     float test_freq_incr = 0.25f * 3.14159f * 2.0f;
@@ -727,6 +729,7 @@ void AC_AutoTune_Heli::updating_rate_d_up(float &tune_d, float *freq, float *gai
     }
 }
 
+// updating_angle_p_up - determines maximum angle p gain for pitch and roll
 void AC_AutoTune_Heli::updating_angle_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt)
 {
     float test_freq_incr = 0.5f * 3.14159f * 2.0f;
@@ -829,6 +832,7 @@ void AC_AutoTune_Heli::updating_angle_p_up(float &tune_p, float *freq, float *ga
     }
 }
 
+// updating_angle_p_up_yaw - determines maximum angle p gain for yaw
 void AC_AutoTune_Heli::updating_angle_p_up_yaw(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt)
 {
     float test_freq_incr = 0.5f * 3.14159f * 2.0f;
@@ -1002,6 +1006,7 @@ void AC_AutoTune_Heli::updating_max_gains(float *freq, float *gain, float *phase
     }
 }
 
+// log autotune summary data
 void AC_AutoTune_Heli::Log_AutoTune()
 {
         switch (axis) {
@@ -1018,6 +1023,7 @@ void AC_AutoTune_Heli::Log_AutoTune()
 //    }
 }
 
+// log autotune time history results for command, angular rate, and attitude
 void AC_AutoTune_Heli::Log_AutoTuneDetails()
 {
     if (tune_type == SP_UP) {
@@ -1027,6 +1033,7 @@ void AC_AutoTune_Heli::Log_AutoTuneDetails()
     }
 }
 
+// log autotune frequency response data
 void AC_AutoTune_Heli::Log_AutoTuneSweep()
 {
     Log_Write_AutoTuneSweep(curr_test_freq, curr_test_gain, curr_test_phase);
@@ -1047,7 +1054,7 @@ void AC_AutoTune_Heli::Log_AutoTuneSweep()
 // @Field: SP: new angle P term
 // @Field: ACC: new max accel term
 
-// Write an Autotune data packet
+// Write an Autotune summary data packet
 void AC_AutoTune_Heli::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float dwell_freq, float meas_gain, float meas_phase, float new_gain_rff, float new_gain_rp, float new_gain_rd, float new_gain_sp, float max_accel)
 {
     AP::logger().Write(
@@ -1069,7 +1076,7 @@ void AC_AutoTune_Heli::Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, floa
         max_accel);
 }
 
-// Write an Autotune data packet
+// Write an Autotune detailed data packet
 void AC_AutoTune_Heli::Log_Write_AutoTuneDetails(float motor_cmd, float tgt_rate_rads, float rate_rads, float tgt_ang_rad, float ang_rad)
 {
     // @LoggerMessage: ATDH
@@ -1095,7 +1102,7 @@ void AC_AutoTune_Heli::Log_Write_AutoTuneDetails(float motor_cmd, float tgt_rate
         ang_rad*57.3f);
 }
 
-// Write an Autotune data packet
+// Write an Autotune frequency response data packet
 void AC_AutoTune_Heli::Log_Write_AutoTuneSweep(float freq, float gain, float phase)
 {
     // @LoggerMessage: ATSH
@@ -1171,6 +1178,7 @@ float AC_AutoTune_Heli::get_yaw_rate_filt_min() const
     return AUTOTUNE_RLPF_MIN;
 }
 
+// set the tuning test sequence
 void AC_AutoTune_Heli::set_tune_sequence()
 {
     uint8_t seq_cnt = 0;

libraries/AC_AutoTune/AC_AutoTune_Heli.h

@@ -45,7 +45,10 @@ protected:
     // get tuned yaw rate d gain
     float get_tuned_yaw_rd() override { return tune_yaw_rd; }
 
+    // initializes test
     void test_init() override;
+
+    // runs test
     void test_run(AxisType test_axis, const float dir_sign) override;
 
     // update gains for the rate p up tune type
@@ -87,12 +90,18 @@ protected:
     // reverse direction for twitch test
     bool twitch_reverse_direction() override { return positive_direction; }
 
+    // methods to log autotune summary data
     void Log_AutoTune() override;
-    void Log_AutoTuneDetails() override;
-    void Log_AutoTuneSweep() override;
     void Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float dwell_freq, float meas_gain, float meas_phase, float new_gain_rff, float new_gain_rp, float new_gain_rd, float new_gain_sp, float max_accel);
+
+    // methods to log autotune time history results for command, angular rate, and attitude.
+    void Log_AutoTuneDetails() override;
     void Log_Write_AutoTuneDetails(float motor_cmd, float tgt_rate_rads, float rate_rads, float tgt_ang_rad, float ang_rad);
+
+    // methods to log autotune frequency response results
+    void Log_AutoTuneSweep() override;
     void Log_Write_AutoTuneSweep(float freq, float gain, float phase);
+
     // returns true if rate P gain of zero is acceptable for this vehicle
     bool allow_zero_rate_p() override { return true; }
 
@@ -102,48 +111,79 @@ protected:
     // send intermittant updates to user on status of tune
     void do_gcs_announcements() override;
 
+    // set the tuning test sequence
     void set_tune_sequence() override;
 
+    // tuning sequence bitmask
     AP_Int8  seq_bitmask;
+
+    // minimum sweep frequency
     AP_Float min_sweep_freq;
+
+    // maximum sweep frequency
     AP_Float max_sweep_freq;
+
+    // maximum response gain
     AP_Float max_resp_gain;
 
 private:
     // updating_rate_ff_up - adjust FF to ensure the target is reached
     // FF is adjusted until rate requested is acheived
     void updating_rate_ff_up(float &tune_ff, float rate_target, float meas_rate, float meas_command);
+
+    // updating_rate_p_up - uses maximum allowable gain determined from max_gain test to determine rate p gain that does not exceed exceed max response gain
     void updating_rate_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_p);
+
+    // updating_rate_d_up - uses maximum allowable gain determined from max_gain test to determine rate d gain where the response gain is at a minimum
     void updating_rate_d_up(float &tune_d, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_d);
+
+    // updating_angle_p_up - determines maximum angle p gain for pitch and roll
     void updating_angle_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt);
+
+    // updating_angle_p_up_yaw - determines maximum angle p gain for yaw
     void updating_angle_p_up_yaw(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt);
+
    // updating_max_gains: use dwells at increasing frequency to determine gain at which instability will occur
     void updating_max_gains(float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_p, max_gain_data &max_gain_d, float &tune_p, float &tune_d);
 
     uint8_t method; //0: determine freq, 1: use max gain method, 2: use phase 180 method
+
     // updating rate FF variables
+    // flag for completion of the initial direction for the feedforward test
     bool first_dir_complete;
+    // feedforward gain resulting from testing in the initial direction
     float first_dir_rff;
 
     // updating max gain variables
+    // flag for finding maximum p gain
     bool found_max_p;
+    // flag for finding maximum d gain
     bool found_max_d;
+    // flag for interpolating to find max response gain
     bool find_middle;
 
     // updating angle P up variables
+    // track the maximum phase
     float phase_max;
+    // previous gain
     float sp_prev_gain;
+    // flag for finding the peak of the gain response
     bool find_peak;
 
     // updating angle P up yaw
+    // counter value of previous good frequency
     uint8_t sp_prev_good_frq_cnt;
 
     // updating rate P up
+    // counter value of previous good frequency
     uint8_t rp_prev_good_frq_cnt;
+    // previous gain
     float rp_prev_gain;
 
     // updating rate D up
+    // counter value of previous good frequency
     uint8_t rd_prev_good_frq_cnt;
+    // previous gain
     float rd_prev_gain;
 
 };