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Plane: added tuning error reporting for quadplanes

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This commit is contained in:
Andrew Tridgell 2016-05-27 14:16:44 +10:00
parent 26ef71e130
commit ba3576f027
4 changed files with 42 additions and 4 deletions
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4
ArduPlane/quadplane.cpp
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@ -963,6 +963,10 @@ void QuadPlane::motors_output(void)
if (motors->armed()) { if (motors->armed()) {
plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control); plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control);
Log_Write_QControl_Tuning(); Log_Write_QControl_Tuning();
uint32_t now = AP_HAL::millis();
if (now - last_ctrl_log_ms > 100) {
attitude_control->control_monitor_log();
}
} }
} }

3
ArduPlane/quadplane.h
View File

@ -299,6 +299,9 @@ private:
uint8_t motor_count; // number of motors to cycle uint8_t motor_count; // number of motors to cycle
} motor_test; } motor_test;
// time of last control log message
uint32_t last_ctrl_log_ms;
// tiltrotor control variables // tiltrotor control variables
struct { struct {
AP_Int16 tilt_mask; AP_Int16 tilt_mask;

30
ArduPlane/tuning.cpp
View File

@ -264,3 +264,33 @@ void AP_Tuning_Plane::reload_value(uint8_t parm)
break; break;
} }
} }
/*
return current controller error
*/
float AP_Tuning_Plane::controller_error(uint8_t parm)
{
switch(parm) {
// special handling of dual-parameters
case TUNING_RATE_ROLL_PI:
case TUNING_RATE_ROLL_P:
case TUNING_RATE_ROLL_I:
case TUNING_RATE_ROLL_D:
case TUNING_RATE_PITCH_PI:
case TUNING_RATE_PITCH_P:
case TUNING_RATE_PITCH_I:
case TUNING_RATE_PITCH_D:
case TUNING_RATE_YAW_PI:
case TUNING_RATE_YAW_P:
case TUNING_RATE_YAW_I:
case TUNING_RATE_YAW_D:
if (!plane.quadplane.available()) {
return 0;
}
return plane.quadplane.attitude_control->control_monitor_rms_output();
default:
// no special handler
return 0;
}
}

9
ArduPlane/tuning.h
View File

@ -83,10 +83,11 @@ private:
TUNING_SET_AZ = 7, TUNING_SET_AZ = 7,
}; };
AP_Float *get_param_pointer(uint8_t parm); AP_Float *get_param_pointer(uint8_t parm) override;
void save_value(uint8_t parm); void save_value(uint8_t parm) override;
void reload_value(uint8_t parm); void reload_value(uint8_t parm) override;
void set_value(uint8_t parm, float value); void set_value(uint8_t parm, float value) override;
float controller_error(uint8_t parm) override;
// tuning set arrays // tuning set arrays
static const uint8_t tuning_set_rate_roll_pitch[]; static const uint8_t tuning_set_rate_roll_pitch[];