From 7f4074a22cd07091d0aa2b7364a5ce471ef842df Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 30 Jul 2024 21:37:50 +1000 Subject: [PATCH] AC_AutoTune: rename pid setters to include set_ in the names --- libraries/AC_AutoTune/AC_AutoTune_Heli.cpp | 44 ++-- libraries/AC_AutoTune/AC_AutoTune_Multi.cpp | 240 ++++++++++---------- 2 files changed, 142 insertions(+), 142 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp index 3f2eac9f1b..f46a459fc7 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp @@ -599,37 +599,37 @@ void AC_AutoTune_Heli::load_gain_set(AxisType s_axis, float rate_p, float rate_i { switch (s_axis) { case AxisType::ROLL: - attitude_control->get_rate_roll_pid().kP(rate_p); - attitude_control->get_rate_roll_pid().kI(rate_i); - attitude_control->get_rate_roll_pid().kD(rate_d); - attitude_control->get_rate_roll_pid().ff(rate_ff); - attitude_control->get_rate_roll_pid().filt_T_hz(rate_fltt); - attitude_control->get_rate_roll_pid().slew_limit(smax); - attitude_control->get_angle_roll_p().kP(angle_p); + attitude_control->get_rate_roll_pid().set_kP(rate_p); + attitude_control->get_rate_roll_pid().set_kI(rate_i); + attitude_control->get_rate_roll_pid().set_kD(rate_d); + attitude_control->get_rate_roll_pid().set_ff(rate_ff); + attitude_control->get_rate_roll_pid().set_filt_T_hz(rate_fltt); + attitude_control->get_rate_roll_pid().set_slew_limit(smax); + attitude_control->get_angle_roll_p().set_kP(angle_p); attitude_control->set_accel_roll_max_cdss(max_accel); attitude_control->set_ang_vel_roll_max_degs(max_rate); break; case AxisType::PITCH: - attitude_control->get_rate_pitch_pid().kP(rate_p); - attitude_control->get_rate_pitch_pid().kI(rate_i); - attitude_control->get_rate_pitch_pid().kD(rate_d); - attitude_control->get_rate_pitch_pid().ff(rate_ff); - attitude_control->get_rate_pitch_pid().filt_T_hz(rate_fltt); - attitude_control->get_rate_pitch_pid().slew_limit(smax); - attitude_control->get_angle_pitch_p().kP(angle_p); + attitude_control->get_rate_pitch_pid().set_kP(rate_p); + attitude_control->get_rate_pitch_pid().set_kI(rate_i); + attitude_control->get_rate_pitch_pid().set_kD(rate_d); + attitude_control->get_rate_pitch_pid().set_ff(rate_ff); + attitude_control->get_rate_pitch_pid().set_filt_T_hz(rate_fltt); + attitude_control->get_rate_pitch_pid().set_slew_limit(smax); + attitude_control->get_angle_pitch_p().set_kP(angle_p); attitude_control->set_accel_pitch_max_cdss(max_accel); attitude_control->set_ang_vel_pitch_max_degs(max_rate); break; case AxisType::YAW: case AxisType::YAW_D: - attitude_control->get_rate_yaw_pid().kP(rate_p); - attitude_control->get_rate_yaw_pid().kI(rate_i); - attitude_control->get_rate_yaw_pid().kD(rate_d); - attitude_control->get_rate_yaw_pid().ff(rate_ff); - attitude_control->get_rate_yaw_pid().filt_T_hz(rate_fltt); - attitude_control->get_rate_yaw_pid().slew_limit(smax); - attitude_control->get_rate_yaw_pid().filt_E_hz(rate_flte); - attitude_control->get_angle_yaw_p().kP(angle_p); + attitude_control->get_rate_yaw_pid().set_kP(rate_p); + attitude_control->get_rate_yaw_pid().set_kI(rate_i); + attitude_control->get_rate_yaw_pid().set_kD(rate_d); + attitude_control->get_rate_yaw_pid().set_ff(rate_ff); + attitude_control->get_rate_yaw_pid().set_filt_T_hz(rate_fltt); + attitude_control->get_rate_yaw_pid().set_slew_limit(smax); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(rate_flte); + attitude_control->get_angle_yaw_p().set_kP(angle_p); attitude_control->set_accel_yaw_max_cdss(max_accel); attitude_control->set_ang_vel_yaw_max_degs(max_rate); break; diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index 859ab40b60..dd189ab6f3 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp @@ -212,41 +212,41 @@ void AC_AutoTune_Multi::load_orig_gains() attitude_control->bf_feedforward(orig_bf_feedforward); if (roll_enabled()) { if (!is_zero(orig_roll_rp)) { - attitude_control->get_rate_roll_pid().kP(orig_roll_rp); - attitude_control->get_rate_roll_pid().kI(orig_roll_ri); - attitude_control->get_rate_roll_pid().kD(orig_roll_rd); - attitude_control->get_rate_roll_pid().ff(orig_roll_rff); - attitude_control->get_rate_roll_pid().kDff(orig_roll_dff); - attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt); - attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax); - attitude_control->get_angle_roll_p().kP(orig_roll_sp); + attitude_control->get_rate_roll_pid().set_kP(orig_roll_rp); + attitude_control->get_rate_roll_pid().set_kI(orig_roll_ri); + attitude_control->get_rate_roll_pid().set_kD(orig_roll_rd); + attitude_control->get_rate_roll_pid().set_ff(orig_roll_rff); + attitude_control->get_rate_roll_pid().set_kDff(orig_roll_dff); + attitude_control->get_rate_roll_pid().set_filt_T_hz(orig_roll_fltt); + attitude_control->get_rate_roll_pid().set_slew_limit(orig_roll_smax); + attitude_control->get_angle_roll_p().set_kP(orig_roll_sp); attitude_control->set_accel_roll_max_cdss(orig_roll_accel); } } if (pitch_enabled()) { if (!is_zero(orig_pitch_rp)) { - attitude_control->get_rate_pitch_pid().kP(orig_pitch_rp); - attitude_control->get_rate_pitch_pid().kI(orig_pitch_ri); - attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd); - attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); - attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff); - attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt); - attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax); - attitude_control->get_angle_pitch_p().kP(orig_pitch_sp); + attitude_control->get_rate_pitch_pid().set_kP(orig_pitch_rp); + attitude_control->get_rate_pitch_pid().set_kI(orig_pitch_ri); + attitude_control->get_rate_pitch_pid().set_kD(orig_pitch_rd); + attitude_control->get_rate_pitch_pid().set_ff(orig_pitch_rff); + attitude_control->get_rate_pitch_pid().set_kDff(orig_pitch_dff); + attitude_control->get_rate_pitch_pid().set_filt_T_hz(orig_pitch_fltt); + attitude_control->get_rate_pitch_pid().set_slew_limit(orig_pitch_smax); + attitude_control->get_angle_pitch_p().set_kP(orig_pitch_sp); attitude_control->set_accel_pitch_max_cdss(orig_pitch_accel); } } if (yaw_enabled() || yaw_d_enabled()) { if (!is_zero(orig_yaw_rp)) { - attitude_control->get_rate_yaw_pid().kP(orig_yaw_rp); - attitude_control->get_rate_yaw_pid().kI(orig_yaw_ri); - attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd); - attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff); - attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff); - attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF); - attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt); - attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax); - attitude_control->get_angle_yaw_p().kP(orig_yaw_sp); + attitude_control->get_rate_yaw_pid().set_kP(orig_yaw_rp); + attitude_control->get_rate_yaw_pid().set_kI(orig_yaw_ri); + attitude_control->get_rate_yaw_pid().set_kD(orig_yaw_rd); + attitude_control->get_rate_yaw_pid().set_ff(orig_yaw_rff); + attitude_control->get_rate_yaw_pid().set_kDff(orig_yaw_dff); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(orig_yaw_rLPF); + attitude_control->get_rate_yaw_pid().set_filt_T_hz(orig_yaw_fltt); + attitude_control->get_rate_yaw_pid().set_slew_limit(orig_yaw_smax); + attitude_control->get_angle_yaw_p().set_kP(orig_yaw_sp); attitude_control->set_accel_yaw_max_cdss(orig_yaw_accel); } } @@ -262,39 +262,39 @@ void AC_AutoTune_Multi::load_tuned_gains() } if (roll_enabled()) { if (!is_zero(tune_roll_rp)) { - attitude_control->get_rate_roll_pid().kP(tune_roll_rp); - attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL); - attitude_control->get_rate_roll_pid().kD(tune_roll_rd); - attitude_control->get_rate_roll_pid().ff(orig_roll_rff); - attitude_control->get_rate_roll_pid().kDff(orig_roll_dff); - attitude_control->get_angle_roll_p().kP(tune_roll_sp); + attitude_control->get_rate_roll_pid().set_kP(tune_roll_rp); + attitude_control->get_rate_roll_pid().set_kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL); + attitude_control->get_rate_roll_pid().set_kD(tune_roll_rd); + attitude_control->get_rate_roll_pid().set_ff(orig_roll_rff); + attitude_control->get_rate_roll_pid().set_kDff(orig_roll_dff); + attitude_control->get_angle_roll_p().set_kP(tune_roll_sp); attitude_control->set_accel_roll_max_cdss(tune_roll_accel); } } if (pitch_enabled()) { if (!is_zero(tune_pitch_rp)) { - attitude_control->get_rate_pitch_pid().kP(tune_pitch_rp); - attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL); - attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd); - attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); - attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff); - attitude_control->get_angle_pitch_p().kP(tune_pitch_sp); + attitude_control->get_rate_pitch_pid().set_kP(tune_pitch_rp); + attitude_control->get_rate_pitch_pid().set_kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL); + attitude_control->get_rate_pitch_pid().set_kD(tune_pitch_rd); + attitude_control->get_rate_pitch_pid().set_ff(orig_pitch_rff); + attitude_control->get_rate_pitch_pid().set_kDff(orig_pitch_dff); + attitude_control->get_angle_pitch_p().set_kP(tune_pitch_sp); attitude_control->set_accel_pitch_max_cdss(tune_pitch_accel); } } if (yaw_enabled() || yaw_d_enabled()) { if (!is_zero(tune_yaw_rp)) { - attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp); - attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL); + attitude_control->get_rate_yaw_pid().set_kP(tune_yaw_rp); + attitude_control->get_rate_yaw_pid().set_kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL); if (yaw_d_enabled()) { - attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd); + attitude_control->get_rate_yaw_pid().set_kD(tune_yaw_rd); } if (yaw_enabled()) { - attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(tune_yaw_rLPF); } - attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff); - attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff); - attitude_control->get_angle_yaw_p().kP(tune_yaw_sp); + attitude_control->get_rate_yaw_pid().set_ff(orig_yaw_rff); + attitude_control->get_rate_yaw_pid().set_kDff(orig_yaw_dff); + attitude_control->get_angle_yaw_p().set_kP(tune_yaw_sp); attitude_control->set_accel_yaw_max_cdss(tune_yaw_accel); } } @@ -308,35 +308,35 @@ void AC_AutoTune_Multi::load_intra_test_gains() // sanity check the gains attitude_control->bf_feedforward(true); if (roll_enabled()) { - attitude_control->get_rate_roll_pid().kP(orig_roll_rp); - attitude_control->get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); - attitude_control->get_rate_roll_pid().kD(orig_roll_rd); - attitude_control->get_rate_roll_pid().ff(orig_roll_rff); - attitude_control->get_rate_roll_pid().kDff(orig_roll_dff); - attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt); - attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax); - attitude_control->get_angle_roll_p().kP(orig_roll_sp); + attitude_control->get_rate_roll_pid().set_kP(orig_roll_rp); + attitude_control->get_rate_roll_pid().set_kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); + attitude_control->get_rate_roll_pid().set_kD(orig_roll_rd); + attitude_control->get_rate_roll_pid().set_ff(orig_roll_rff); + attitude_control->get_rate_roll_pid().set_kDff(orig_roll_dff); + attitude_control->get_rate_roll_pid().set_filt_T_hz(orig_roll_fltt); + attitude_control->get_rate_roll_pid().set_slew_limit(orig_roll_smax); + attitude_control->get_angle_roll_p().set_kP(orig_roll_sp); } if (pitch_enabled()) { - attitude_control->get_rate_pitch_pid().kP(orig_pitch_rp); - attitude_control->get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); - attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd); - attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); - attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff); - attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt); - attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax); - attitude_control->get_angle_pitch_p().kP(orig_pitch_sp); + attitude_control->get_rate_pitch_pid().set_kP(orig_pitch_rp); + attitude_control->get_rate_pitch_pid().set_kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); + attitude_control->get_rate_pitch_pid().set_kD(orig_pitch_rd); + attitude_control->get_rate_pitch_pid().set_ff(orig_pitch_rff); + attitude_control->get_rate_pitch_pid().set_kDff(orig_pitch_dff); + attitude_control->get_rate_pitch_pid().set_filt_T_hz(orig_pitch_fltt); + attitude_control->get_rate_pitch_pid().set_slew_limit(orig_pitch_smax); + attitude_control->get_angle_pitch_p().set_kP(orig_pitch_sp); } if (yaw_enabled() || yaw_d_enabled()) { - attitude_control->get_rate_yaw_pid().kP(orig_yaw_rp); - attitude_control->get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); - attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd); - attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff); - attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff); - attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt); - attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax); - attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF); - attitude_control->get_angle_yaw_p().kP(orig_yaw_sp); + attitude_control->get_rate_yaw_pid().set_kP(orig_yaw_rp); + attitude_control->get_rate_yaw_pid().set_kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING); + attitude_control->get_rate_yaw_pid().set_kD(orig_yaw_rd); + attitude_control->get_rate_yaw_pid().set_ff(orig_yaw_rff); + attitude_control->get_rate_yaw_pid().set_kDff(orig_yaw_dff); + attitude_control->get_rate_yaw_pid().set_filt_T_hz(orig_yaw_fltt); + attitude_control->get_rate_yaw_pid().set_slew_limit(orig_yaw_smax); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(orig_yaw_rLPF); + attitude_control->get_angle_yaw_p().set_kP(orig_yaw_sp); } } @@ -346,40 +346,40 @@ void AC_AutoTune_Multi::load_test_gains() { switch (axis) { case AxisType::ROLL: - attitude_control->get_rate_roll_pid().kP(tune_roll_rp); - attitude_control->get_rate_roll_pid().kI(tune_roll_rp * 0.01); - attitude_control->get_rate_roll_pid().kD(tune_roll_rd); - attitude_control->get_rate_roll_pid().ff(0.0); - attitude_control->get_rate_roll_pid().kDff(0.0); - attitude_control->get_rate_roll_pid().filt_T_hz(0.0); - attitude_control->get_rate_roll_pid().slew_limit(0.0); - attitude_control->get_angle_roll_p().kP(tune_roll_sp); + attitude_control->get_rate_roll_pid().set_kP(tune_roll_rp); + attitude_control->get_rate_roll_pid().set_kI(tune_roll_rp * 0.01); + attitude_control->get_rate_roll_pid().set_kD(tune_roll_rd); + attitude_control->get_rate_roll_pid().set_ff(0.0); + attitude_control->get_rate_roll_pid().set_kDff(0.0); + attitude_control->get_rate_roll_pid().set_filt_T_hz(0.0); + attitude_control->get_rate_roll_pid().set_slew_limit(0.0); + attitude_control->get_angle_roll_p().set_kP(tune_roll_sp); break; case AxisType::PITCH: - attitude_control->get_rate_pitch_pid().kP(tune_pitch_rp); - attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp * 0.01); - attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd); - attitude_control->get_rate_pitch_pid().ff(0.0); - attitude_control->get_rate_pitch_pid().kDff(0.0); - attitude_control->get_rate_pitch_pid().filt_T_hz(0.0); - attitude_control->get_rate_pitch_pid().slew_limit(0.0); - attitude_control->get_angle_pitch_p().kP(tune_pitch_sp); + attitude_control->get_rate_pitch_pid().set_kP(tune_pitch_rp); + attitude_control->get_rate_pitch_pid().set_kI(tune_pitch_rp * 0.01); + attitude_control->get_rate_pitch_pid().set_kD(tune_pitch_rd); + attitude_control->get_rate_pitch_pid().set_ff(0.0); + attitude_control->get_rate_pitch_pid().set_kDff(0.0); + attitude_control->get_rate_pitch_pid().set_filt_T_hz(0.0); + attitude_control->get_rate_pitch_pid().set_slew_limit(0.0); + attitude_control->get_angle_pitch_p().set_kP(tune_pitch_sp); break; case AxisType::YAW: case AxisType::YAW_D: - attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp); - attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp * 0.01); - attitude_control->get_rate_yaw_pid().ff(0.0); - attitude_control->get_rate_yaw_pid().kDff(0.0); + attitude_control->get_rate_yaw_pid().set_kP(tune_yaw_rp); + attitude_control->get_rate_yaw_pid().set_kI(tune_yaw_rp * 0.01); + attitude_control->get_rate_yaw_pid().set_ff(0.0); + attitude_control->get_rate_yaw_pid().set_kDff(0.0); if (axis == AxisType::YAW_D) { - attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd); + attitude_control->get_rate_yaw_pid().set_kD(tune_yaw_rd); } else { - attitude_control->get_rate_yaw_pid().kD(0.0); - attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF); + attitude_control->get_rate_yaw_pid().set_kD(0.0); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(tune_yaw_rLPF); } - attitude_control->get_rate_yaw_pid().filt_T_hz(0.0); - attitude_control->get_rate_yaw_pid().slew_limit(0.0); - attitude_control->get_angle_yaw_p().kP(tune_yaw_sp); + attitude_control->get_rate_yaw_pid().set_filt_T_hz(0.0); + attitude_control->get_rate_yaw_pid().set_slew_limit(0.0); + attitude_control->get_angle_yaw_p().set_kP(tune_yaw_sp); break; } } @@ -402,17 +402,17 @@ void AC_AutoTune_Multi::save_tuning_gains() // sanity check the rate P values if ((axes_completed & AUTOTUNE_AXIS_BITMASK_ROLL) && roll_enabled() && !is_zero(tune_roll_rp)) { // rate roll gains - attitude_control->get_rate_roll_pid().kP(tune_roll_rp); - attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL); - attitude_control->get_rate_roll_pid().kD(tune_roll_rd); - attitude_control->get_rate_roll_pid().ff(orig_roll_rff); - attitude_control->get_rate_roll_pid().kDff(orig_roll_dff); - attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt); - attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax); + attitude_control->get_rate_roll_pid().set_kP(tune_roll_rp); + attitude_control->get_rate_roll_pid().set_kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL); + attitude_control->get_rate_roll_pid().set_kD(tune_roll_rd); + attitude_control->get_rate_roll_pid().set_ff(orig_roll_rff); + attitude_control->get_rate_roll_pid().set_kDff(orig_roll_dff); + attitude_control->get_rate_roll_pid().set_filt_T_hz(orig_roll_fltt); + attitude_control->get_rate_roll_pid().set_slew_limit(orig_roll_smax); attitude_control->get_rate_roll_pid().save_gains(); // stabilize roll - attitude_control->get_angle_roll_p().kP(tune_roll_sp); + attitude_control->get_angle_roll_p().set_kP(tune_roll_sp); attitude_control->get_angle_roll_p().save_gains(); // acceleration roll @@ -430,17 +430,17 @@ void AC_AutoTune_Multi::save_tuning_gains() if ((axes_completed & AUTOTUNE_AXIS_BITMASK_PITCH) && pitch_enabled() && !is_zero(tune_pitch_rp)) { // rate pitch gains - attitude_control->get_rate_pitch_pid().kP(tune_pitch_rp); - attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL); - attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd); - attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); - attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff); - attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt); - attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax); + attitude_control->get_rate_pitch_pid().set_kP(tune_pitch_rp); + attitude_control->get_rate_pitch_pid().set_kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL); + attitude_control->get_rate_pitch_pid().set_kD(tune_pitch_rd); + attitude_control->get_rate_pitch_pid().set_ff(orig_pitch_rff); + attitude_control->get_rate_pitch_pid().set_kDff(orig_pitch_dff); + attitude_control->get_rate_pitch_pid().set_filt_T_hz(orig_pitch_fltt); + attitude_control->get_rate_pitch_pid().set_slew_limit(orig_pitch_smax); attitude_control->get_rate_pitch_pid().save_gains(); // stabilize pitch - attitude_control->get_angle_pitch_p().kP(tune_pitch_sp); + attitude_control->get_angle_pitch_p().set_kP(tune_pitch_sp); attitude_control->get_angle_pitch_p().save_gains(); // acceleration pitch @@ -459,22 +459,22 @@ void AC_AutoTune_Multi::save_tuning_gains() if ((((axes_completed & AUTOTUNE_AXIS_BITMASK_YAW) && yaw_enabled()) || ((axes_completed & AUTOTUNE_AXIS_BITMASK_YAW_D) && yaw_d_enabled())) && !is_zero(tune_yaw_rp)) { // rate yaw gains - attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp); - attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL); - attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff); - attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff); - attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt); - attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax); + attitude_control->get_rate_yaw_pid().set_kP(tune_yaw_rp); + attitude_control->get_rate_yaw_pid().set_kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL); + attitude_control->get_rate_yaw_pid().set_ff(orig_yaw_rff); + attitude_control->get_rate_yaw_pid().set_kDff(orig_yaw_dff); + attitude_control->get_rate_yaw_pid().set_filt_T_hz(orig_yaw_fltt); + attitude_control->get_rate_yaw_pid().set_slew_limit(orig_yaw_smax); if (yaw_d_enabled()) { - attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd); + attitude_control->get_rate_yaw_pid().set_kD(tune_yaw_rd); } if (yaw_enabled()) { - attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF); + attitude_control->get_rate_yaw_pid().set_filt_E_hz(tune_yaw_rLPF); } attitude_control->get_rate_yaw_pid().save_gains(); // stabilize yaw - attitude_control->get_angle_yaw_p().kP(tune_yaw_sp); + attitude_control->get_angle_yaw_p().set_kP(tune_yaw_sp); attitude_control->get_angle_yaw_p().save_gains(); // acceleration yaw