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Copter: allow starting autotune from flightmode switch

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ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
This commit is contained in:
Brad Bosch 2014-10-24 14:39:54 -05:00 committed by Randy Mackay
parent ad3bce105c
commit 74fedc0897
2 changed files with 9 additions and 11 deletions
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16
ArduCopter/control_autotune.pde
View File

@ -115,9 +115,10 @@ static float orig_pitch_rp = 0, orig_pitch_ri, orig_pitch_rd, orig_pitch_sp;
static float tune_roll_rp, tune_roll_rd, tune_roll_sp; // currently being tuned parameter values
static float tune_pitch_rp, tune_pitch_rd, tune_pitch_sp; // currently being tuned parameter values
// autotune_start - should be called when the ch7/ch8 switch is switched ON
static void autotune_start()
// autotune_init - should be called when autotune mode is selected
static bool autotune_init(bool ignore_checks)
{
bool success=true;
switch (autotune_state.mode) {
case AUTOTUNE_MODE_FAILED:
// autotune has been run but failed so reset state to uninitialised
@ -125,8 +126,7 @@ static void autotune_start()
// no break to allow fall through to restart the tuning
case AUTOTUNE_MODE_UNINITIALISED:
// autotune has never been run
// switch into the AUTOTUNE flight mode
if (set_mode(AUTOTUNE)) {
if (success=autotune_start(false)) {
// so store current gains as original gains
autotune_backup_gains_and_initialise();
// advance mode to tuning
@ -138,8 +138,7 @@ static void autotune_start()
case AUTOTUNE_MODE_TUNING:
// we are restarting tuning after the user must have switched ch7/ch8 off so we restart tuning where we left off
// set_mode to AUTOTUNE
if (set_mode(AUTOTUNE)) {
if (success=autotune_start(false)) {
// reset gains to tuning-start gains (i.e. low I term)
autotune_load_intra_test_gains();
// write dataflash log even and send message to ground station
@ -155,6 +154,7 @@ static void autotune_start()
Log_Write_Event(DATA_AUTOTUNE_PILOT_TESTING);
break;
}
return success;
}
// autotune_stop - should be called when the ch7/ch8 switch is switched OFF
@ -174,8 +174,8 @@ static void autotune_stop()
// we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
}
// autotune_init - initialise autotune flight mode
static bool autotune_init(bool ignore_checks)
// autotune_start - initialise autotune flight mode
static bool autotune_start(bool ignore_checks)
{
// only allow flip from Stabilize or AltHold flight modes
if (control_mode != STABILIZE && control_mode != ALT_HOLD) {

4
ArduCopter/switches.pde
View File

@ -344,8 +344,6 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
switch(ch_flag) {
case AUX_SWITCH_LOW:
case AUX_SWITCH_MIDDLE:
// stop the autotune and return to original gains
autotune_stop();
// restore flight mode based on flight mode switch position
if (control_mode == AUTOTUNE) {
reset_control_switch();
@ -353,7 +351,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
case AUX_SWITCH_HIGH:
// start an autotuning session
autotune_start();
set_mode(AUTOTUNE);
break;
}
break;