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Copter: add AUTOTUNE_AXES bitmask parameter

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This is used to allow tuning just some axis
This commit is contained in:
Leonard Hall 2015-02-11 21:17:58 +09:00 committed by Randy Mackay
parent 11a19803e0
commit 864168e5ea
2 changed files with 11 additions and 0 deletions
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4
ArduCopter/Parameters.h
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@ -315,6 +315,7 @@ public:
k_param_acro_balance_roll, k_param_acro_balance_roll,
k_param_acro_balance_pitch, k_param_acro_balance_pitch,
k_param_acro_yaw_p, // 244 k_param_acro_yaw_p, // 244
k_param_autotune_axis_bitmask, // 245
// 254,255: reserved // 254,255: reserved
}; };
@ -462,6 +463,9 @@ public:
AC_P p_stabilize_yaw; AC_P p_stabilize_yaw;
AC_P p_alt_hold; AC_P p_alt_hold;
// Autotune
AP_Int8 autotune_axis_bitmask;
// Note: keep initializers here in the same order as they are declared // Note: keep initializers here in the same order as they are declared
// above. // above.
Parameters() : Parameters() :

7
ArduCopter/Parameters.pde
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@ -1037,6 +1037,13 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(optflow, "FLOW", OpticalFlow), GOBJECT(optflow, "FLOW", OpticalFlow),
#endif #endif
// @Param: AUTOTUNE_AXIS_BITMASK
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Values: 7:All,1:Roll,2:Pitch,4:Yaw,0:None
// @User: Standard
GSCALAR(autotune_axis_bitmask, "AUTOTUNE_AXES", 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
AP_VAREND AP_VAREND
}; };