From 561920aad62d0946a9893fcee47e5b54824b00e3 Mon Sep 17 00:00:00 2001 From: Peter Barker <pbarker@barker.dropbear.id.au> Date: Sat, 2 Nov 2019 09:07:25 +1100 Subject: [PATCH] AC_AutoTune: cope with change in namespace of LogEvent enum --- libraries/AC_AutoTune/AC_AutoTune.cpp | 34 +++++++++++++-------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp index 3e76b9d27e..62075be8e5 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune.cpp @@ -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); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_RESTART); + AP::logger().Write_Event(LogEvent::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); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_PILOT_TESTING); + AP::logger().Write_Event(LogEvent::AUTOTUNE_PILOT_TESTING); break; } @@ -196,7 +196,7 @@ void AC_AutoTune::stop() attitude_control->use_sqrt_controller(true); update_gcs(AUTOTUNE_MESSAGE_STOPPED); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_OFF); + AP::logger().Write_Event(LogEvent::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); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_SUCCESS); + AP::logger().Write_Event(LogEvent::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(); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_INITIALISED); + AP::logger().Write_Event(LogEvent::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); - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_SAVEDGAINS); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::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; - AP::logger().Write_Event(Log_Event::DATA_AUTOTUNE_REACHED_LIMIT); + AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT); } } else { ignore_next = false;