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AC_AutoTune: Multi: consolidate messages

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Iampete1 2022-01-05 13:31:54 +00:00 committed by Randy Mackay
parent 08fcbedaee
commit 8376779038
1 changed files with 1 additions and 57 deletions
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58
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -111,63 +111,7 @@ void AC_AutoTune_Multi::do_gcs_announcements()
if (now - announce_time < AUTOTUNE_ANNOUNCE_INTERVAL_MS) {
return;
}
float tune_rp = 0.0f;
float tune_rd = 0.0f;
float tune_sp = 0.0f;
float tune_accel = 0.0f;
char axis_char = '?';
switch (axis) {
case ROLL:
tune_rp = tune_roll_rp;
tune_rd = tune_roll_rd;
tune_sp = tune_roll_sp;
tune_accel = tune_roll_accel;
axis_char = 'R';
break;
case PITCH:
tune_rp = tune_pitch_rp;
tune_rd = tune_pitch_rd;
tune_sp = tune_pitch_sp;
tune_accel = tune_pitch_accel;
axis_char = 'P';
break;
case YAW:
tune_rp = tune_yaw_rp;
tune_rd = tune_yaw_rLPF;
tune_sp = tune_yaw_sp;
tune_accel = tune_yaw_accel;
axis_char = 'Y';
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis_char, type_string());
send_step_string();
if (!is_zero(lean_angle)) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: lean=%f target=%f", (double)lean_angle, (double)target_angle);
}
if (!is_zero(rotation_rate)) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: rotation=%f target=%f", (double)(rotation_rate*0.01f), (double)(target_rate*0.01f));
}
switch (tune_type) {
case RD_UP:
case RD_DOWN:
case RP_UP:
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd);
break;
case SP_DOWN:
case SP_UP:
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel);
break;
case RFF_UP:
case MAX_GAINS:
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
break;
case TUNE_COMPLETE:
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: success %u/%u", counter, AUTOTUNE_SUCCESS_COUNT);
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: %s %s %u%%", axis_string(), type_string(), (counter * (100/AUTOTUNE_SUCCESS_COUNT)) );
announce_time = now;
}