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Copter: making autotune work for heli too

This commit is contained in:
bnsgeyer 2020-05-02 00:21:22 -04:00 committed by Bill Geyer
parent 427e8d1e24
commit a9450ac9b6
3 changed files with 9 additions and 3 deletions
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3
ArduCopter/Copter.h
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@ -63,7 +63,8 @@
#include <AP_Arming/AP_Arming.h> // ArduPilot motor arming library
#include <AP_SmartRTL/AP_SmartRTL.h> // ArduPilot Smart Return To Launch Mode (SRTL) library
#include <AP_TempCalibration/AP_TempCalibration.h> // temperature calibration library
#include <AC_AutoTune/AC_AutoTune.h> // ArduCopter autotune library. support for autotune of multirotors.
#include <AC_AutoTune/AC_AutoTune_Multi.h> // ArduCopter autotune library. support for autotune of multirotors.
#include <AC_AutoTune/AC_AutoTune_Heli.h> // ArduCopter autotune library. support for autotune of helicopters.
#include <AP_Parachute/AP_Parachute.h> // ArduPilot parachute release library
#include <AC_Sprayer/AC_Sprayer.h> // Crop sprayer library
#include <AP_ADSB/AP_ADSB.h> // ADS-B RF based collision avoidance module library

2
ArduCopter/config.h
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@ -55,7 +55,7 @@
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define AUTOTUNE_ENABLED DISABLED
# define AUTOTUNE_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////

7
ArduCopter/mode.h
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@ -586,7 +586,12 @@ private:
/*
wrapper class for AC_AutoTune
*/
class AutoTune : public AC_AutoTune
#if FRAME_CONFIG == HELI_FRAME
class AutoTune : public AC_AutoTune_Heli
#else
class AutoTune : public AC_AutoTune_Multi
#endif
{
public:
bool init() override;