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AP_Tuning: removed controller error messages

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these are replaced by the SRate in PID messages
This commit is contained in:
Andrew Tridgell 2022-02-19 17:07:57 +11:00
parent e715972264
commit 9eab217081
2 changed files with 0 additions and 24 deletions
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19
libraries/AP_Tuning/AP_Tuning.cpp
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@ -189,9 +189,6 @@ void AP_Tuning::check_input(uint8_t flightmode)
last_channel_value = chan_value; last_channel_value = chan_value;
} }
// check for controller error
check_controller_error();
if (fabsf(chan_value - last_channel_value) < 0.01) { if (fabsf(chan_value - last_channel_value) < 0.01) {
// ignore changes of less than 1% // ignore changes of less than 1%
return; return;
@ -335,19 +332,3 @@ const char *AP_Tuning::get_tuning_name(uint8_t parm)
} }
return "UNKNOWN"; return "UNKNOWN";
} }
/*
check for controller error
*/
void AP_Tuning::check_controller_error(void)
{
float err = controller_error(current_parm);
if (err > error_threshold && !mid_point_wait && error_threshold > 0) {
uint32_t now = AP_HAL::millis();
if (now - last_controller_error_ms > 2000 && hal.util->get_soft_armed()) {
AP_Notify::events.tune_error = 1;
gcs().send_text(MAV_SEVERITY_INFO, "Tuning: error %.2f", (double)err);
last_controller_error_ms = now;
}
}
}

5
libraries/AP_Tuning/AP_Tuning.h
View File

@ -80,9 +80,6 @@ private:
// last flight mode we were tuning in // last flight mode we were tuning in
uint8_t last_flightmode; uint8_t last_flightmode;
// last time we reported controller error
uint32_t last_controller_error_ms;
const tuning_set *tuning_sets; const tuning_set *tuning_sets;
const tuning_name *tuning_names; const tuning_name *tuning_names;
@ -92,7 +89,6 @@ private:
void save_parameters(void); void save_parameters(void);
void revert_parameters(void); void revert_parameters(void);
const char *get_tuning_name(uint8_t parm); const char *get_tuning_name(uint8_t parm);
void check_controller_error(void);
protected: protected:
// virtual functions that must be implemented in vehicle subclass // virtual functions that must be implemented in vehicle subclass
@ -100,7 +96,6 @@ protected:
virtual void save_value(uint8_t parm) = 0; virtual void save_value(uint8_t parm) = 0;
virtual void reload_value(uint8_t parm) = 0; virtual void reload_value(uint8_t parm) = 0;
virtual void set_value(uint8_t parm, float value) = 0; virtual void set_value(uint8_t parm, float value) = 0;
virtual float controller_error(uint8_t parm) = 0;
// parmset is in vehicle subclass var table // parmset is in vehicle subclass var table
AP_Int16 parmset; AP_Int16 parmset;