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Plane: added support for DO_AUTOTUNE_ENABLE

This commit is contained in:
Andrew Tridgell 2015-06-13 19:16:02 +10:00
parent d5c5400e76
commit 76c0293a85
4 changed files with 22 additions and 0 deletions
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5
ArduPlane/GCS_Mavlink.cpp
View File

@ -1347,6 +1347,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(packet.param1);
break;
default: default:
break; break;
} }

1
ArduPlane/Plane.h
View File

@ -751,6 +751,7 @@ private:
void reset_control_switch(); void reset_control_switch();
void autotune_start(void); void autotune_start(void);
void autotune_restore(void); void autotune_restore(void);
void autotune_enable(bool enable);
bool fly_inverted(void); bool fly_inverted(void);
void failsafe_short_on_event(enum failsafe_state fstype); void failsafe_short_on_event(enum failsafe_state fstype);
void failsafe_long_on_event(enum failsafe_state fstype); void failsafe_long_on_event(enum failsafe_state fstype);

4
ArduPlane/commands_logic.cpp
View File

@ -145,6 +145,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
} }
} }
#endif #endif
case MAV_CMD_DO_AUTOTUNE_ENABLE:
autotune_enable(cmd.p1);
break; break;
#if CAMERA == ENABLED #if CAMERA == ENABLED
@ -267,6 +270,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_INVERTED_FLIGHT: case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START: case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_AUTOTUNE_ENABLE:
return true; return true;
default: default:

12
ArduPlane/control_modes.cpp
View File

@ -146,6 +146,18 @@ void Plane::autotune_restore(void)
pitchController.autotune_restore(); pitchController.autotune_restore();
} }
/*
enable/disable autotune for AUTO modes
*/
void Plane::autotune_enable(bool enable)
{
if (enable) {
autotune_start();
} else {
autotune_restore();
}
}
/* /*
are we flying inverted? are we flying inverted?
*/ */