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AC_Autotune: add axis string function

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This commit is contained in:
Iampete1 2022-02-03 21:24:23 +00:00 committed by Randy Mackay
parent 58e2e84432
commit 894f924de0
3 changed files with 18 additions and 13 deletions
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14
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -157,6 +157,20 @@ const char *AC_AutoTune::type_string() const
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
} }
// return current axis string
const char *AC_AutoTune::axis_string() const
{
switch (axis) {
case ROLL:
return "Roll";
case PITCH:
return "Pitch";
case YAW:
return "Yaw";
}
return "";
}
// run - runs the autotune flight mode // run - runs the autotune flight mode
// should be called at 100hz or more // should be called at 100hz or more
void AC_AutoTune::run() void AC_AutoTune::run()

3
libraries/AC_AutoTune/AC_AutoTune.h
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@ -171,6 +171,9 @@ protected:
// convert tune type to string for reporting // convert tune type to string for reporting
const char *type_string() const; const char *type_string() const;
// return current axis string
const char *axis_string() const;
// Functions added for heli autotune // Functions added for heli autotune
// Add additional updating gain functions specific to heli // Add additional updating gain functions specific to heli

14
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
View File

@ -267,20 +267,8 @@ void AC_AutoTune_Heli::do_gcs_announcements()
if (now - announce_time < AUTOTUNE_ANNOUNCE_INTERVAL_MS) { if (now - announce_time < AUTOTUNE_ANNOUNCE_INTERVAL_MS) {
return; return;
} }
char axis_char = '?';
switch (axis) {
case ROLL:
axis_char = 'R';
break;
case PITCH:
axis_char = 'P';
break;
case YAW:
axis_char = 'Y';
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: (%c) %s", axis_char, type_string()); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: %s %s", axis_string(), type_string());
send_step_string(); send_step_string();
switch (tune_type) { switch (tune_type) {
case RD_UP: case RD_UP: