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Sub: Disable autotune parameters

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This commit is contained in:
Jacob Walser 2016-11-25 16:31:08 -05:00 committed by Andrew Tridgell
parent 9c5b304626
commit 4cb9ee947b
3 changed files with 8 additions and 0 deletions
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2
ArduSub/Parameters.cpp
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@ -1009,6 +1009,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_RPM/AP_RPM.cpp
GOBJECT(rpm_sensor, "RPM", AP_RPM),
#if AUTOTUNE_ENABLED == ENABLED
// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
@ -1030,6 +1031,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Range: 0.001 0.006
// @User: Standard
GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.001f),
#endif
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp

2
ArduSub/Parameters.h
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@ -456,9 +456,11 @@ public:
// Autotune
#if AUTOTUNE_ENABLED == ENABLED
AP_Int8 autotune_axis_bitmask;
AP_Float autotune_aggressiveness;
AP_Float autotune_min_d;
#endif
AP_Float surface_depth;

4
ArduSub/Sub.h
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@ -565,8 +565,10 @@ private:
void gcs_check_input(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void do_erase_logs(void);
#if AUTOTUNE_ENABLED == ENABLED
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
#endif
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
@ -645,6 +647,7 @@ private:
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle);
void set_auto_yaw_roi(const Location &roi_location);
float get_auto_heading(void);
#if AUTOTUNE_ENABLED == ENABLED
bool autotune_init(bool ignore_checks);
void autotune_stop();
bool autotune_start(bool ignore_checks);
@ -667,6 +670,7 @@ private:
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
#endif
bool circle_init(bool ignore_checks);
void circle_run();
bool guided_init(bool ignore_checks);