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AC_AutoTune:tradheli-streamline gcs messages

This commit is contained in:
Bill Geyer 2022-02-10 22:27:08 -05:00 committed by Randy Mackay
parent 42e567207e
commit 8156831e0e
1 changed files with 11 additions and 26 deletions
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35
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -330,35 +330,20 @@ void AC_AutoTune_Heli::do_post_test_gcs_announcements() {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ff=%f", (double)tune_rff); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ff=%f", (double)tune_rff);
break; break;
case RP_UP: case RP_UP:
if (is_equal(start_freq,stop_freq)) {
// announce results of dwell
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: freq=%f gain=%f", (double)(test_freq[freq_cnt]), (double)(test_gain[freq_cnt]));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph=%f rate_p=%f", (double)(test_phase[freq_cnt]), (double)(tune_rp));
} else {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: max_freq=%f max_gain=%f", (double)(sweep.maxgain.freq), (double)(sweep.maxgain.gain));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph180_freq=%f ph180_gain=%f", (double)(sweep.ph180.freq), (double)(sweep.ph180.gain));
}
break;
case RD_UP: case RD_UP:
// announce results of dwell
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: freq=%f gain=%f", (double)(test_freq[freq_cnt]), (double)(test_gain[freq_cnt]));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph=%f rate_d=%f", (double)(test_phase[freq_cnt]), (double)(tune_rd));
break;
case SP_UP: case SP_UP:
if (is_equal(start_freq,stop_freq)) {
// announce results of dwell and update
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: freq=%f gain=%f", (double)(test_freq[freq_cnt]), (double)(test_gain[freq_cnt]));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: phase=%f angle_p=%f", (double)(test_phase[freq_cnt]), (double)(tune_sp));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: tune_accel=%f max_accel=%f", (double)(tune_accel), (double)(test_accel_max));
} else {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: max_freq=%f max_gain=%f", (double)(sweep.maxgain.freq), (double)(sweep.maxgain.gain));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph180_freq=%f ph180_gain=%f", (double)(sweep.ph180.freq), (double)(sweep.ph180.gain));
}
break;
case MAX_GAINS: case MAX_GAINS:
if (is_equal(start_freq,stop_freq)) { if (is_equal(start_freq,stop_freq)) {
// announce results of dwell and update // announce results of dwell
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: freq=%f gain=%f ph=%f", (double)(test_freq[freq_cnt]), (double)(test_gain[freq_cnt]), (double)(test_phase[freq_cnt])); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: freq=%f gain=%f", (double)(test_freq[freq_cnt]), (double)(test_gain[freq_cnt]));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph=%f", (double)(test_phase[freq_cnt]));
if (tune_type == RP_UP) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: rate_p=%f", (double)(tune_rp));
} else if (tune_type == RD_UP) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: rate_d=%f", (double)(tune_rd));
} else if (tune_type == SP_UP) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: angle_p=%f tune_accel=%f max_accel=%f", (double)(tune_sp), (double)(tune_accel), (double)(test_accel_max));
}
} else { } else {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: max_freq=%f max_gain=%f", (double)(sweep.maxgain.freq), (double)(sweep.maxgain.gain)); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: max_freq=%f max_gain=%f", (double)(sweep.maxgain.freq), (double)(sweep.maxgain.gain));
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph180_freq=%f ph180_gain=%f", (double)(sweep.ph180.freq), (double)(sweep.ph180.gain)); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: ph180_freq=%f ph180_gain=%f", (double)(sweep.ph180.freq), (double)(sweep.ph180.gain));