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AP_GyroFFT: emit notifications for FFT notch tune

This commit is contained in:
Andy Piper 2023-01-21 19:54:32 +00:00 committed by Andrew Tridgell
parent af9aed1017
commit c3a402a02f
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -760,17 +760,20 @@ void AP_GyroFFT::stop_notch_tune()
// if we don't have a throttle value then all bets are off // if we don't have a throttle value then all bets are off
if (is_zero(_avg_throttle_out) || is_zero(harmonic)) { if (is_zero(_avg_throttle_out) || is_zero(harmonic)) {
gcs().send_text(MAV_SEVERITY_WARNING, "FFT: Unable to calculate notch: need stable hover"); gcs().send_text(MAV_SEVERITY_WARNING, "FFT: Unable to calculate notch: need stable hover");
AP_Notify::events.autotune_failed = true;
return; return;
} }
if (!_ins->setup_throttle_gyro_harmonic_notch(harmonic, (float)_fft_min_hz.get(), _avg_throttle_out, harmonics)) { if (!_ins->setup_throttle_gyro_harmonic_notch(harmonic, (float)_fft_min_hz.get(), _avg_throttle_out, harmonics)) {
gcs().send_text(MAV_SEVERITY_WARNING, "FFT: Unable to set throttle notch with %.1fHz/%.2f", gcs().send_text(MAV_SEVERITY_WARNING, "FFT: Unable to set throttle notch with %.1fHz/%.2f",
harmonic, _avg_throttle_out); harmonic, _avg_throttle_out);
AP_Notify::events.autotune_failed = true;
// save results to FFT slots // save results to FFT slots
_throttle_ref.set(_avg_throttle_out); _throttle_ref.set(_avg_throttle_out);
_freq_hover_hz.set(harmonic); _freq_hover_hz.set(harmonic);
} else { } else {
gcs().send_text(MAV_SEVERITY_NOTICE, "FFT: Notch frequency %.1fHz and ref %.2f selected", harmonic, _avg_throttle_out); gcs().send_text(MAV_SEVERITY_NOTICE, "FFT: Notch frequency %.1fHz and ref %.2f selected", harmonic, _avg_throttle_out);
AP_Notify::events.autotune_complete = true;
} }
} }