Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Autotune: Notify user of min Rate D for action

This commit is contained in:
Leonard Hall 2024-02-19 14:07:26 +10:30 committed by Peter Barker
parent fcd3c8502f
commit 41a5a1b8fe
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
View File

@ -819,6 +819,8 @@ void AC_AutoTune_Multi::updating_rate_d_up(float &tune_d, float tune_d_min, floa
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
// This may be mean AGGR should be increased or MIN_D decreased
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Min Rate D limit reached");
}
}
} else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@ -874,6 +876,8 @@ void AC_AutoTune_Multi::updating_rate_d_down(float &tune_d, float tune_d_min, fl
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
// This may be mean AGGR should be increased or MIN_D decreased
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Min Rate D limit reached");
}
}
} else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@ -907,6 +911,8 @@ void AC_AutoTune_Multi::updating_rate_d_down(float &tune_d, float tune_d_min, fl
tune_d = tune_d_min;
counter = AUTOTUNE_SUCCESS_COUNT;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
// This may be mean AGGR should be increased or MIN_D decreased
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Min Rate D limit reached");
}
}
}