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AC_Autotune_Heli: print gains on axis completion

This commit is contained in:
Iampete1 2022-02-04 23:30:10 +00:00 committed by Randy Mackay
parent 2ccf8af2bd
commit 607a7bfd70
2 changed files with 31 additions and 0 deletions
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25
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
View File

@ -706,6 +706,31 @@ void AC_AutoTune_Heli::save_tuning_gains()
reset();
}
// report final gains for a given axis to GCS
void AC_AutoTune_Heli::report_final_gains(AxisType test_axis) const
{
switch (test_axis) {
case ROLL:
report_axis_gains("Roll", tune_roll_rp, tune_roll_rff*AUTOTUNE_FFI_RATIO_FINAL, tune_roll_rd, tune_roll_rff, tune_roll_sp, tune_roll_accel);
break;
case PITCH:
report_axis_gains("Pitch", tune_pitch_rp, tune_pitch_rff*AUTOTUNE_FFI_RATIO_FINAL, tune_pitch_rd, tune_pitch_rff, tune_pitch_sp, tune_pitch_accel);
break;
case YAW:
report_axis_gains("Yaw", tune_yaw_rp, tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL, tune_yaw_rd, tune_yaw_rff, tune_yaw_sp, tune_yaw_accel);
break;
}
}
// report gain formating helper
void AC_AutoTune_Heli::report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float rate_ff, float angle_P, float max_accel) const
{
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s complete", axis_string);
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s Rate: P:%0.4f, I:%0.4f, D:%0.5f, FF:%0.4f",axis_string,rate_P,rate_I,rate_D,rate_ff);
gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s Angle P:%0.2f, Max Accel:%0.0f",axis_string,angle_P,max_accel);
}
void AC_AutoTune_Heli::rate_ff_test_init()
{
ff_test_phase = 0;

6
libraries/AC_AutoTune/AC_AutoTune_Heli.h
View File

@ -110,6 +110,9 @@ protected:
// send post test updates to user
void do_post_test_gcs_announcements() override;
// report final gains for a given axis to GCS
void report_final_gains(AxisType test_axis) const override;
// set the tuning test sequence
void set_tune_sequence() override;
@ -173,6 +176,9 @@ private:
// exceeded_freq_range - ensures tuning remains inside frequency range
bool exceeded_freq_range(float frequency);
// report gain formating helper
void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float rate_ff, float angle_P, float max_accel) const;
// updating rate FF variables
// flag for completion of the initial direction for the feedforward test
bool first_dir_complete;