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Copter: AutoTune integrate renamed use_sqrt_controller

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Leonard Hall 2018-01-01 10:00:00 +10:30 committed by Randy Mackay
parent 853d7ab573
commit 8ac653cabf
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/mode_autotune.cpp
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@ -151,7 +151,7 @@ void Copter::ModeAutoTune::stop()
load_orig_gains(); load_orig_gains();
// re-enable angle-to-rate request limits // re-enable angle-to-rate request limits
attitude_control->use_ff_and_input_shaping(true); attitude_control->use_sqrt_controller(true);
// log off event and send message to ground station // log off event and send message to ground station
update_gcs(AUTOTUNE_MESSAGE_STOPPED); update_gcs(AUTOTUNE_MESSAGE_STOPPED);
@ -377,7 +377,7 @@ void Copter::ModeAutoTune::run()
pilot_override = true; pilot_override = true;
// set gains to their original values // set gains to their original values
load_orig_gains(); load_orig_gains();
attitude_control->use_ff_and_input_shaping(true); attitude_control->use_sqrt_controller(true);
} }
// reset pilot override time // reset pilot override time
override_time = millis(); override_time = millis();
@ -478,7 +478,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
case WAITING_FOR_LEVEL: case WAITING_FOR_LEVEL:
// Note: we should be using intra-test gains (which are very close to the original gains but have lower I) // Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
// re-enable rate limits // re-enable rate limits
attitude_control->use_ff_and_input_shaping(true); attitude_control->use_sqrt_controller(true);
get_poshold_attitude(roll_cd, pitch_cd, desired_yaw); get_poshold_attitude(roll_cd, pitch_cd, desired_yaw);
@ -552,7 +552,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
// Note: we should be using intra-test gains (which are very close to the original gains but have lower I) // Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
// disable rate limits // disable rate limits
attitude_control->use_ff_and_input_shaping(false); attitude_control->use_sqrt_controller(false);
// hold current attitude // hold current attitude
attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f); attitude_control->input_rate_bf_roll_pitch_yaw(0.0f, 0.0f, 0.0f);
@ -658,7 +658,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
case UPDATE_GAINS: case UPDATE_GAINS:
// re-enable rate limits // re-enable rate limits
attitude_control->use_ff_and_input_shaping(true); attitude_control->use_sqrt_controller(true);
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
// log the latest gains // log the latest gains