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AP_Scripting: pause quicktune during pilot input

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thanks to Marco for the suggestion
This commit is contained in:
Andrew Tridgell 2022-05-03 21:53:37 +10:00
parent 8320b90a01
commit c2af9a9154
2 changed files with 31 additions and 0 deletions
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29
libraries/AP_Scripting/applets/VTOL-quicktune.lua
View File

@ -38,8 +38,17 @@ local QUIK_YAW_D_MAX = bind_add_param('YAW_D_MAX', 7, 0.01)
local INS_GYRO_FILTER = bind_param("INS_GYRO_FILTER") local INS_GYRO_FILTER = bind_param("INS_GYRO_FILTER")
local RCMAP_ROLL = bind_param("RCMAP_ROLL")
local RCMAP_PITCH = bind_param("RCMAP_PITCH")
local RCMAP_YAW = bind_param("RCMAP_YAW")
local RCIN_ROLL = rc:get_channel(RCMAP_ROLL:get())
local RCIN_PITCH = rc:get_channel(RCMAP_PITCH:get())
local RCIN_YAW = rc:get_channel(RCMAP_YAW:get())
local UPDATE_RATE_HZ = 40 local UPDATE_RATE_HZ = 40
local STAGE_DELAY = 4.0 local STAGE_DELAY = 4.0
local PILOT_INPUT_DELAY = 4.0
local YAW_FLTE_MAX = 2.0 local YAW_FLTE_MAX = 2.0
local FLTD_MUL = 0.5 local FLTD_MUL = 0.5
@ -72,6 +81,7 @@ local stages = { "D", "P" }
local stage = stages[1] local stage = stages[1]
local last_stage_change = get_time() local last_stage_change = get_time()
local last_gain_report = get_time() local last_gain_report = get_time()
local last_pilot_input = get_time()
local slew_parm = nil local slew_parm = nil
local slew_target = 0 local slew_target = 0
local slew_delta = 0 local slew_delta = 0
@ -157,6 +167,16 @@ function setup_filters()
end end
end end
-- check for pilot input to pause tune
function have_pilot_input()
if (math.abs(RCIN_ROLL:norm_input_dz()) > 0 or
math.abs(RCIN_PITCH:norm_input_dz()) > 0 or
math.abs(RCIN_YAW:norm_input_dz()) > 0) then
return true
end
return false
end
reset_axes_done() reset_axes_done()
get_all_params() get_all_params()
@ -294,6 +314,11 @@ function update()
if quick_switch == nil or QUIK_ENABLE:get() < 1 then if quick_switch == nil or QUIK_ENABLE:get() < 1 then
return return
end end
if have_pilot_input() then
last_pilot_input = get_time()
end
local sw_pos = quick_switch:get_aux_switch_pos() local sw_pos = quick_switch:get_aux_switch_pos()
if sw_pos == 0 or not arming:is_armed() or not vehicle:get_likely_flying() then if sw_pos == 0 or not arming:is_armed() or not vehicle:get_likely_flying() then
-- abort, revert parameters -- abort, revert parameters
@ -336,6 +361,10 @@ function update()
setup_filters() setup_filters()
end end
if get_time() - last_pilot_input < PILOT_INPUT_DELAY then
return
end
local srate = get_slew_rate(axis) local srate = get_slew_rate(axis)
local pname = get_pname(axis, stage) local pname = get_pname(axis, stage)
local P = params[pname] local P = params[pname]

2
libraries/AP_Scripting/applets/VTOL-quicktune.md
View File

@ -114,3 +114,5 @@ If you move the switch to the low position at any time in the tune
then all parameters will be reverted to their original then all parameters will be reverted to their original
values. Parameters will also be reverted if you disarm. values. Parameters will also be reverted if you disarm.
If the pilot gives roll, pitch or yaw input while tuning then the tune
is paused until 4 seconds after the pilot input stops.