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Plane: enable fixed wing autotune switch

This commit is contained in:
Andrew Tridgell 2021-11-09 14:34:28 +11:00 committed by Randy Mackay
parent 168eb91ed3
commit 845e2ab888
2 changed files with 7 additions and 0 deletions
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5
ArduPlane/RC_Channel.cpp
View File

@ -161,6 +161,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
case AUX_FUNC::LANDING_FLARE: case AUX_FUNC::LANDING_FLARE:
case AUX_FUNC::PARACHUTE_RELEASE: case AUX_FUNC::PARACHUTE_RELEASE:
case AUX_FUNC::MODE_SWITCH_RESET: case AUX_FUNC::MODE_SWITCH_RESET:
case AUX_FUNC::FW_AUTOTUNE:
break; break;
case AUX_FUNC::Q_ASSIST: case AUX_FUNC::Q_ASSIST:
@ -318,6 +319,10 @@ case AUX_FUNC::ARSPD_CALIBRATE:
plane.reset_control_switch(); plane.reset_control_switch();
break; break;
case AUX_FUNC::FW_AUTOTUNE:
plane.autotune_enable(ch_flag == AuxSwitchPos::HIGH);
break;
default: default:
return RC_Channel::do_aux_function(ch_option, ch_flag); return RC_Channel::do_aux_function(ch_option, ch_flag);
} }

2
ArduPlane/control_modes.cpp
View File

@ -148,6 +148,7 @@ void Plane::reset_control_switch()
*/ */
void Plane::autotune_start(void) void Plane::autotune_start(void)
{ {
gcs().send_text(MAV_SEVERITY_INFO, "Started autotune");
rollController.autotune_start(); rollController.autotune_start();
pitchController.autotune_start(); pitchController.autotune_start();
} }
@ -159,6 +160,7 @@ void Plane::autotune_restore(void)
{ {
rollController.autotune_restore(); rollController.autotune_restore();
pitchController.autotune_restore(); pitchController.autotune_restore();
gcs().send_text(MAV_SEVERITY_INFO, "Stopped autotune");
} }
/* /*