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Copter: Compare bit variables, change set values.

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Copter: Change from comment 1 to true.
This commit is contained in:
murata 2017-04-01 19:32:22 +09:00 committed by Randy Mackay
parent 0638f16bfd
commit 597dbb2df4
1 changed files with 19 additions and 19 deletions
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38
ArduCopter/control_autotune.cpp
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@ -124,14 +124,14 @@ enum AutoTuneTuneType {
// autotune_state_struct - hold state flags // autotune_state_struct - hold state flags
static struct autotune_state_struct { static struct autotune_state_struct {
AutoTuneTuneMode mode : 2; // see AutoTuneTuneMode for what modes are allowed AutoTuneTuneMode mode : 2; // see AutoTuneTuneMode for what modes are allowed
uint8_t pilot_override : 1; // 1 = pilot is overriding controls so we suspend tuning temporarily uint8_t pilot_override : 1; // true = pilot is overriding controls so we suspend tuning temporarily
AutoTuneAxisType axis : 2; // see AutoTuneAxisType for which things can be tuned AutoTuneAxisType axis : 2; // see AutoTuneAxisType for which things can be tuned
uint8_t positive_direction : 1; // 0 = tuning in negative direction (i.e. left for roll), 1 = positive direction (i.e. right for roll) uint8_t positive_direction : 1; // false = tuning in negative direction (i.e. left for roll), true = positive direction (i.e. right for roll)
AutoTuneStepType step : 2; // see AutoTuneStepType for what steps are performed AutoTuneStepType step : 2; // see AutoTuneStepType for what steps are performed
AutoTuneTuneType tune_type : 3; // see AutoTuneTuneType AutoTuneTuneType tune_type : 3; // see AutoTuneTuneType
uint8_t ignore_next : 1; // 1 = ignore the next test uint8_t ignore_next : 1; // true = ignore the next test
bool use_poshold : 1; // enable position hold bool use_poshold : 1; // true = enable position hold
bool have_position : 1; // start_position is value bool have_position : 1; // true = start_position is value
Vector3f start_position; Vector3f start_position;
} autotune_state; } autotune_state;
@ -1143,11 +1143,11 @@ void Copter::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_
// we have a good measurement of bounce back // we have a good measurement of bounce back
if (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) { if (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) {
// ignore the next result unless it is the same as this one // ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1; autotune_state.ignore_next = true;
// bounce back is bigger than our threshold so increment the success counter // bounce back is bigger than our threshold so increment the success counter
autotune_counter++; autotune_counter++;
}else{ }else{
if (autotune_state.ignore_next == 0){ if (autotune_state.ignore_next == false) {
// bounce back is smaller than our threshold so decrement the success counter // bounce back is smaller than our threshold so decrement the success counter
if (autotune_counter > 0 ) { if (autotune_counter > 0 ) {
autotune_counter--; autotune_counter--;
@ -1161,7 +1161,7 @@ void Copter::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT); Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
} }
} else { } else {
autotune_state.ignore_next = 0; autotune_state.ignore_next = false;
} }
} }
} }
@ -1197,15 +1197,15 @@ void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tun
}else{ }else{
// we have a good measurement of bounce back // we have a good measurement of bounce back
if (measurement_max-measurement_min < measurement_max*g.autotune_aggressiveness) { if (measurement_max-measurement_min < measurement_max*g.autotune_aggressiveness) {
if (autotune_state.ignore_next == 0){ if (autotune_state.ignore_next == false) {
// bounce back is less than our threshold so increment the success counter // bounce back is less than our threshold so increment the success counter
autotune_counter++; autotune_counter++;
} else { } else {
autotune_state.ignore_next = 0; autotune_state.ignore_next = false;
} }
}else{ }else{
// ignore the next result unless it is the same as this one // ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1; autotune_state.ignore_next = true;
// bounce back is larger than our threshold so decrement the success counter // bounce back is larger than our threshold so decrement the success counter
if (autotune_counter > 0 ) { if (autotune_counter > 0 ) {
autotune_counter--; autotune_counter--;
@ -1227,15 +1227,15 @@ void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tun
void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max) void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max)
{ {
if (measurement_max < target*(1+0.5f*g.autotune_aggressiveness)) { if (measurement_max < target*(1+0.5f*g.autotune_aggressiveness)) {
if (autotune_state.ignore_next == 0){ if (autotune_state.ignore_next == false) {
// if maximum measurement was lower than target so increment the success counter // if maximum measurement was lower than target so increment the success counter
autotune_counter++; autotune_counter++;
} else { } else {
autotune_state.ignore_next = 0; autotune_state.ignore_next = false;
} }
}else{ }else{
// ignore the next result unless it is the same as this one // ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1; autotune_state.ignore_next = true;
// if maximum measurement was higher than target so decrement the success counter // if maximum measurement was higher than target so decrement the success counter
if (autotune_counter > 0 ) { if (autotune_counter > 0 ) {
autotune_counter--; autotune_counter--;
@ -1261,7 +1261,7 @@ void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_
// if maximum measurement was greater than target so increment the success counter // if maximum measurement was greater than target so increment the success counter
autotune_counter++; autotune_counter++;
}else{ }else{
if (autotune_state.ignore_next == 0){ if (autotune_state.ignore_next == false) {
// if maximum measurement was lower than target so decrement the success counter // if maximum measurement was lower than target so decrement the success counter
if (autotune_counter > 0 ) { if (autotune_counter > 0 ) {
autotune_counter--; autotune_counter--;
@ -1275,7 +1275,7 @@ void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT); Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
} }
} else { } else {
autotune_state.ignore_next = 0; autotune_state.ignore_next = false;
} }
} }
} }
@ -1286,7 +1286,7 @@ void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, floa
{ {
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) { if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
// ignore the next result unless it is the same as this one // ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1; autotune_state.ignore_next = true;
// if maximum measurement was greater than target so increment the success counter // if maximum measurement was greater than target so increment the success counter
autotune_counter++; autotune_counter++;
} else if ((measurement_max < target) && (measurement_max > target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) && (tune_d > tune_d_min)) { } else if ((measurement_max < target) && (measurement_max > target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) && (tune_d > tune_d_min)) {
@ -1311,7 +1311,7 @@ void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, floa
// cancel change in direction // cancel change in direction
autotune_state.positive_direction = !autotune_state.positive_direction; autotune_state.positive_direction = !autotune_state.positive_direction;
}else{ }else{
if (autotune_state.ignore_next == 0){ if (autotune_state.ignore_next == false) {
// if maximum measurement was lower than target so decrement the success counter // if maximum measurement was lower than target so decrement the success counter
if (autotune_counter > 0 ) { if (autotune_counter > 0 ) {
autotune_counter--; autotune_counter--;
@ -1325,7 +1325,7 @@ void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, floa
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT); Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
} }
} else { } else {
autotune_state.ignore_next = 0; autotune_state.ignore_next = false;
} }
} }
} }