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AP_Tuning: add options to prevent spamming tuning error messages

This commit is contained in:
Hwurzburg 2021-09-08 07:57:47 -05:00 committed by Randy Mackay
parent 502aff27da
commit aa402d9a55
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Tuning/AP_Tuning.cpp
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@ -49,7 +49,7 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {
// @Param: ERR_THRESH
// @DisplayName: Controller error threshold
// @Description: This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability
// @Description: This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message.
// @Range: 0 1
// @User: Standard
AP_GROUPINFO("ERR_THRESH", 7, AP_Tuning, error_threshold, 0.15f),
@ -342,7 +342,7 @@ const char *AP_Tuning::get_tuning_name(uint8_t parm)
void AP_Tuning::check_controller_error(void)
{
float err = controller_error(current_parm);
if (err > error_threshold) {
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;