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AP_Tuning_Plane: Added PIDFF tuning sets

This commit is contained in:
Yury MonZon 2024-12-09 15:02:02 +01:00
parent 970d1a9f80
commit 64b4b2459b
2 changed files with 12 additions and 0 deletions
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6
ArduPlane/tuning.cpp
View File

@ -37,6 +37,9 @@ const uint8_t AP_Tuning_Plane::tuning_set_az[] = { TUNING_AZ_P, TU
const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]= { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P }; const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]= { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P };
const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]= { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P }; const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]= { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P };
const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]= { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P }; const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]= { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P };
const uint8_t AP_Tuning_Plane::tuning_set_dp_roll_pitch[] = { TUNING_RLL_D, TUNING_RLL_P, TUNING_PIT_D, TUNING_PIT_P };
const uint8_t AP_Tuning_Plane::tuning_set_pidff_roll[] = { TUNING_RLL_P, TUNING_RLL_I, TUNING_RLL_D, TUNING_RLL_FF };
const uint8_t AP_Tuning_Plane::tuning_set_pidff_pitch[] = { TUNING_PIT_P, TUNING_PIT_I, TUNING_PIT_D, TUNING_PIT_FF };
// macro to prevent getting the array length wrong // macro to prevent getting the array length wrong
#define TUNING_ARRAY(v) ARRAY_SIZE(v), v #define TUNING_ARRAY(v) ARRAY_SIZE(v), v
@ -53,6 +56,9 @@ const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
{ TUNING_SET_RATE_PITCHDP, TUNING_ARRAY(tuning_set_rate_pitchDP) }, { TUNING_SET_RATE_PITCHDP, TUNING_ARRAY(tuning_set_rate_pitchDP) },
{ TUNING_SET_RATE_ROLLDP, TUNING_ARRAY(tuning_set_rate_rollDP) }, { TUNING_SET_RATE_ROLLDP, TUNING_ARRAY(tuning_set_rate_rollDP) },
{ TUNING_SET_RATE_YAWDP, TUNING_ARRAY(tuning_set_rate_yawDP) }, { TUNING_SET_RATE_YAWDP, TUNING_ARRAY(tuning_set_rate_yawDP) },
{ TUNING_SET_DP_ROLL_PITCH, TUNING_ARRAY(tuning_set_dp_roll_pitch) },
{ TUNING_SET_PIDFF_ROLL, TUNING_ARRAY(tuning_set_pidff_roll) },
{ TUNING_SET_PIDFF_PITCH, TUNING_ARRAY(tuning_set_pidff_pitch) },
{ 0, 0, nullptr } { 0, 0, nullptr }
}; };

6
ArduPlane/tuning.h
View File

@ -94,6 +94,9 @@ private:
TUNING_SET_RATE_PITCHDP = 8, TUNING_SET_RATE_PITCHDP = 8,
TUNING_SET_RATE_ROLLDP = 9, TUNING_SET_RATE_ROLLDP = 9,
TUNING_SET_RATE_YAWDP = 10, TUNING_SET_RATE_YAWDP = 10,
TUNING_SET_DP_ROLL_PITCH = 11,
TUNING_SET_PIDFF_ROLL = 12,
TUNING_SET_PIDFF_PITCH = 13,
}; };
AP_Float *get_param_pointer(uint8_t parm) override; AP_Float *get_param_pointer(uint8_t parm) override;
@ -112,6 +115,9 @@ private:
static const uint8_t tuning_set_rate_pitchDP[]; static const uint8_t tuning_set_rate_pitchDP[];
static const uint8_t tuning_set_rate_rollDP[]; static const uint8_t tuning_set_rate_rollDP[];
static const uint8_t tuning_set_rate_yawDP[]; static const uint8_t tuning_set_rate_yawDP[];
static const uint8_t tuning_set_dp_roll_pitch[];
static const uint8_t tuning_set_pidff_roll[];
static const uint8_t tuning_set_pidff_pitch[];
// mask of what params have been set // mask of what params have been set
uint64_t have_set; uint64_t have_set;