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Copter: log PIDs at full rate during AUTOTUNE twitch

This commit is contained in:
Andrew Tridgell 2018-12-22 13:26:45 +11:00
parent 7939f3488b
commit b897551e0b
2 changed files with 8 additions and 0 deletions
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1
ArduCopter/mode.h
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@ -455,6 +455,7 @@ protected:
void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override; void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override;
void init_z_limits() override; void init_z_limits() override;
void Log_Write_Event(enum at_event id) override; void Log_Write_Event(enum at_event id) override;
void log_pids() override;
}; };
class ModeAutoTune : public Mode { class ModeAutoTune : public Mode {

7
ArduCopter/mode_autotune.cpp
View File

@ -112,6 +112,13 @@ void Copter::AutoTune::init_z_limits()
copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z); copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
} }
void Copter::AutoTune::log_pids()
{
copter.DataFlash.Log_Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info());
copter.DataFlash.Log_Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info());
copter.DataFlash.Log_Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info());
}
/* /*
Write an event packet. This maps from AC_AutoTune event IDs to Write an event packet. This maps from AC_AutoTune event IDs to