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AP_Tuning: make it possible to tune a single parameter

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This commit is contained in:
Andrew Tridgell 2016-05-08 14:17:07 +10:00
parent f23bd7e09d
commit 6d1c7c9082
2 changed files with 28 additions and 8 deletions
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33
libraries/AP_Tuning/AP_Tuning.cpp
View File

@ -14,12 +14,12 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO_FLAGS("CHAN", 1, AP_Tuning, channel, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("CHAN", 1, AP_Tuning, channel, 0, AP_PARAM_FLAG_ENABLE),
// @Param: PARMSET // @Param: PARM
// @DisplayName: Transmitter tuning parameter set // @DisplayName: Transmitter tuning parameter or set of parameters
// @Description: This sets which set of parameters will be tuned // @Description: This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter
// @Values: 0:None,1:QuadRateRollPitch,2:QuadRateRoll,3:QuadRatePitch // @Values: 0:None,1:RateRollPitch,2:RateRoll,3:RatePitch
// @User: Standard // @User: Standard
AP_GROUPINFO("PARMSET", 2, AP_Tuning, parmset, 0), AP_GROUPINFO("PARM", 2, AP_Tuning, parmset, 0),
// index 2 and 3 reserved for old MIN and MAX parameters // index 2 and 3 reserved for old MIN and MAX parameters
@ -221,8 +221,14 @@ void AP_Tuning::Log_Write_Parameter_Tuning(float value)
void AP_Tuning::save_parameters(void) void AP_Tuning::save_parameters(void)
{ {
uint8_t set = (uint8_t)parmset.get(); uint8_t set = (uint8_t)parmset.get();
if (set < set_base) {
// single parameter tuning
save_value(set);
return;
}
// multiple parameter tuning
for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) { for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) {
if (tuning_sets[i].set == set) { if (tuning_sets[i].set+set_base == set) {
for (uint8_t p=0; p<tuning_sets[i].num_parms; p++) { for (uint8_t p=0; p<tuning_sets[i].num_parms; p++) {
save_value(tuning_sets[i].parms[p]); save_value(tuning_sets[i].parms[p]);
} }
@ -238,8 +244,13 @@ void AP_Tuning::save_parameters(void)
void AP_Tuning::revert_parameters(void) void AP_Tuning::revert_parameters(void)
{ {
uint8_t set = (uint8_t)parmset.get(); uint8_t set = (uint8_t)parmset.get();
if (set < set_base) {
// single parameter tuning
reload_value(set);
return;
}
for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) { for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) {
if (tuning_sets[i].set == set) { if (tuning_sets[i].set+set_base == set) {
for (uint8_t p=0; p<tuning_sets[i].num_parms; p++) { for (uint8_t p=0; p<tuning_sets[i].num_parms; p++) {
if (p >= 32 || (need_revert & (1U<<p))) { if (p >= 32 || (need_revert & (1U<<p))) {
reload_value(tuning_sets[i].parms[p]); reload_value(tuning_sets[i].parms[p]);
@ -257,8 +268,14 @@ void AP_Tuning::revert_parameters(void)
void AP_Tuning::next_parameter(void) void AP_Tuning::next_parameter(void)
{ {
uint8_t set = (uint8_t)parmset.get(); uint8_t set = (uint8_t)parmset.get();
if (set < set_base) {
// nothing to do but re-center
current_parm = set;
re_center();
return;
}
for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) { for (uint8_t i=0; tuning_sets[i].num_parms != 0; i++) {
if (tuning_sets[i].set == set) { if (tuning_sets[i].set+set_base == set) {
if (current_parm == 0) { if (current_parm == 0) {
current_parm_index = 0; current_parm_index = 0;
} else { } else {

3
libraries/AP_Tuning/AP_Tuning.h
View File

@ -36,6 +36,9 @@ public:
// update function called on new radio frames // update function called on new radio frames
void check_input(uint8_t flightmode); void check_input(uint8_t flightmode);
// base parameter number for tuning sets of parameters in one flight
const uint8_t set_base = 100;
private: private:
AP_Int8 channel; AP_Int8 channel;
AP_Int16 channel_min; AP_Int16 channel_min;