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Copter: AutoTune: include axis being tuned in output

This commit is contained in:
Peter Barker 2017-05-16 15:20:38 +10:00 committed by Randy Mackay
parent 0bc17645fb
commit 34eae9d9cb
1 changed files with 30 additions and 25 deletions
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55
ArduCopter/control_autotune.cpp
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@ -337,7 +337,36 @@ void Copter::autotune_do_gcs_announcements()
if (now - autotune_announce_time < AUTOTUNE_ANNOUNCE_INTERVAL_MS) {
return;
}
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: %s", autotune_type_string());
float tune_rp = 0.0f;
float tune_rd = 0.0f;
float tune_sp = 0.0f;
float tune_accel = 0.0f;
char axis = '?';
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
tune_rp = tune_roll_rp;
tune_rd = tune_roll_rd;
tune_sp = tune_roll_sp;
tune_accel = tune_roll_accel;
axis = 'R';
break;
case AUTOTUNE_AXIS_PITCH:
tune_rp = tune_pitch_rp;
tune_rd = tune_pitch_rd;
tune_sp = tune_pitch_sp;
tune_accel = tune_pitch_accel;
axis = 'P';
break;
case AUTOTUNE_AXIS_YAW:
tune_rp = tune_yaw_rp;
tune_rd = tune_yaw_rLPF;
tune_sp = tune_yaw_sp;
tune_accel = tune_yaw_accel;
axis = 'Y';
break;
}
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis, autotune_type_string());
autotune_send_step_string();
if (!is_zero(lean_angle)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", lean_angle, autotune_target_angle);
@ -348,30 +377,6 @@ void Copter::autotune_do_gcs_announcements()
if (!is_zero(rotation_rate)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", rotation_rate*0.01f, autotune_target_rate*0.01f);
}
float tune_rp = 0.0f;
float tune_rd = 0.0f;
float tune_sp = 0.0f;
float tune_accel = 0.0f;
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
tune_rp = tune_roll_rp;
tune_rd = tune_roll_rd;
tune_sp = tune_roll_sp;
tune_accel = tune_roll_accel;
break;
case AUTOTUNE_AXIS_PITCH:
tune_rp = tune_pitch_rp;
tune_rd = tune_pitch_rd;
tune_sp = tune_pitch_sp;
tune_accel = tune_pitch_accel;
break;
case AUTOTUNE_AXIS_YAW:
tune_rp = tune_yaw_rp;
tune_rd = tune_yaw_rLPF;
tune_sp = tune_yaw_sp;
tune_accel = tune_yaw_accel;
break;
}
switch (autotune_state.tune_type) {
case AUTOTUNE_TYPE_RD_UP:
case AUTOTUNE_TYPE_RD_DOWN: