Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AutoTune: Log_Write events directly rather than via subclass

Browse Source
This commit is contained in:
Peter Barker 2019-10-31 14:29:42 +11:00 committed by Randy Mackay
parent 6c0c09e690
commit 3e4e7bdd18
2 changed files with 17 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
libraries/AC_AutoTune/AC_AutoTune.cpp
View File

@ -168,7 +168,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
if (success) {
// reset gains to tuning-start gains (i.e. low I term)
load_gains(GAIN_INTRA_TEST);
Log_Write_Event(EVENT_AUTOTUNE_RESTART);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_RESTART);
update_gcs(AUTOTUNE_MESSAGE_STARTED);
}
break;
@ -177,7 +177,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
// we have completed a tune and the pilot wishes to test the new gains in the current flight mode
// so simply apply tuning gains (i.e. do not change flight mode)
load_gains(GAIN_TUNED);
Log_Write_Event(EVENT_AUTOTUNE_PILOT_TESTING);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_PILOT_TESTING);
break;
}
@ -196,7 +196,7 @@ void AC_AutoTune::stop()
attitude_control->use_sqrt_controller(true);
update_gcs(AUTOTUNE_MESSAGE_STOPPED);
Log_Write_Event(EVENT_AUTOTUNE_OFF);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_OFF);
// Note: we leave the mode as it was so that we know how the autotune ended
// we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
@ -862,7 +862,7 @@ void AC_AutoTune::control_attitude()
if (complete) {
mode = SUCCESS;
update_gcs(AUTOTUNE_MESSAGE_SUCCESS);
Log_Write_Event(EVENT_AUTOTUNE_SUCCESS);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_SUCCESS);
AP_Notify::events.autotune_complete = true;
} else {
AP_Notify::events.autotune_next_axis = true;
@ -954,7 +954,7 @@ void AC_AutoTune::backup_gains_and_initialise()
tune_yaw_sp = attitude_control->get_angle_yaw_p().kP();
tune_yaw_accel = attitude_control->get_accel_yaw_max();
Log_Write_Event(EVENT_AUTOTUNE_INITIALISED);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_INITIALISED);
}
// load_orig_gains - set gains to their original values
@ -1213,7 +1213,7 @@ void AC_AutoTune::save_tuning_gains()
// update GCS and log save gains event
update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
Log_Write_Event(EVENT_AUTOTUNE_SAVEDGAINS);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_SAVEDGAINS);
reset();
}
@ -1398,7 +1398,7 @@ void AC_AutoTune::updating_rate_d_up(float &tune_d, float tune_d_min, float tune
// We have reached minimum D gain so stop tuning
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
}
} else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@ -1407,7 +1407,7 @@ void AC_AutoTune::updating_rate_d_up(float &tune_d, float tune_d_min, float tune
tune_p += tune_p*tune_p_step_ratio;
if (tune_p >= tune_p_max) {
tune_p = tune_p_max;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
} else {
// we have a good measurement of bounce back
@ -1428,7 +1428,7 @@ void AC_AutoTune::updating_rate_d_up(float &tune_d, float tune_d_min, float tune
if (tune_d >= tune_d_max) {
tune_d = tune_d_max;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
} else {
ignore_next = false;
@ -1453,7 +1453,7 @@ void AC_AutoTune::updating_rate_d_down(float &tune_d, float tune_d_min, float tu
// We have reached minimum D so stop tuning
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
}
} else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@ -1462,7 +1462,7 @@ void AC_AutoTune::updating_rate_d_down(float &tune_d, float tune_d_min, float tu
tune_p += tune_p*tune_p_step_ratio;
if (tune_p >= tune_p_max) {
tune_p = tune_p_max;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
} else {
// we have a good measurement of bounce back
@ -1486,7 +1486,7 @@ void AC_AutoTune::updating_rate_d_down(float &tune_d, float tune_d_min, float tu
if (tune_d <= tune_d_min) {
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}
@ -1511,14 +1511,14 @@ void AC_AutoTune::updating_rate_p_up_d_down(float &tune_d, float tune_d_min, flo
// do not decrease the D term past the minimum
if (tune_d <= tune_d_min) {
tune_d = tune_d_min;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
// decrease P gain to match D gain reduction
tune_p -= tune_p*tune_p_step_ratio;
// do not decrease the P term past the minimum
if (tune_p <= tune_p_min) {
tune_p = tune_p_min;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
// cancel change in direction
positive_direction = !positive_direction;
@ -1534,7 +1534,7 @@ void AC_AutoTune::updating_rate_p_up_d_down(float &tune_d, float tune_d_min, flo
if (tune_p >= tune_p_max) {
tune_p = tune_p_max;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
} else {
ignore_next = false;
@ -1566,7 +1566,7 @@ void AC_AutoTune::updating_angle_p_down(float &tune_p, float tune_p_min, float t
if (tune_p <= tune_p_min) {
tune_p = tune_p_min;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}
@ -1593,7 +1593,7 @@ void AC_AutoTune::updating_angle_p_up(float &tune_p, float tune_p_max, float tun
if (tune_p >= tune_p_max) {
tune_p = tune_p_max;
counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(EVENT_AUTOTUNE_REACHED_LIMIT);
AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT);
}
} else {
ignore_next = false;

14
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -68,20 +68,6 @@ protected:
// return true if we have a good position estimate
virtual bool position_ok();
enum at_event {
EVENT_AUTOTUNE_INITIALISED = 0,
EVENT_AUTOTUNE_OFF = 1,
EVENT_AUTOTUNE_RESTART = 2,
EVENT_AUTOTUNE_SUCCESS = 3,
EVENT_AUTOTUNE_FAILED = 4,
EVENT_AUTOTUNE_REACHED_LIMIT = 5,
EVENT_AUTOTUNE_PILOT_TESTING = 6,
EVENT_AUTOTUNE_SAVEDGAINS = 7
};
// write a log event
virtual void Log_Write_Event(enum at_event id) = 0;
// internal init function, should be called from init()
bool init_internals(bool use_poshold,
AC_AttitudeControl_Multi *attitude_control,