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Sub: Remove unsupported autotune

This commit is contained in:
Jacob Walser 2017-03-03 23:32:47 -05:00 committed by Randy Mackay
parent dacdd542b7
commit ca38a344f8
13 changed files with 8 additions and 1524 deletions
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1
ArduSub/APM_Config.h
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@ -6,7 +6,6 @@
// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
#define AUTOTUNE_ENABLED DISABLED // disable the auto tune functionality to save 7k of flash
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define RANGEFINDER_ENABLED DISABLED // disable rangefinder to save 1k of flash

64
ArduSub/Log.cpp
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@ -157,60 +157,6 @@ void Sub::do_erase_logs(void)
gcs_send_text(MAV_SEVERITY_INFO, "Log erase complete");
}
#if AUTOTUNE_ENABLED == ENABLED
struct PACKED log_AutoTune {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t axis; // roll or pitch
uint8_t tune_step; // tuning PI or D up or down
float meas_target; // target achieved rotation rate
float meas_min; // maximum achieved rotation rate
float meas_max; // maximum achieved rotation rate
float new_gain_rp; // newly calculated gain
float new_gain_rd; // newly calculated gain
float new_gain_sp; // newly calculated gain
float new_ddt; // newly calculated gain
};
// Write an Autotune data packet
void Sub::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
{
struct log_AutoTune pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNE_MSG),
time_us : AP_HAL::micros64(),
axis : axis,
tune_step : tune_step,
meas_target : meas_target,
meas_min : meas_min,
meas_max : meas_max,
new_gain_rp : new_gain_rp,
new_gain_rd : new_gain_rd,
new_gain_sp : new_gain_sp,
new_ddt : new_ddt
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
struct PACKED log_AutoTuneDetails {
LOG_PACKET_HEADER;
uint64_t time_us;
float angle_cd; // lean angle in centi-degrees
float rate_cds; // current rotation rate in centi-degrees / second
};
// Write an Autotune data packet
void Sub::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds)
{
struct log_AutoTuneDetails pkt = {
LOG_PACKET_HEADER_INIT(LOG_AUTOTUNEDETAILS_MSG),
time_us : AP_HAL::micros64(),
angle_cd : angle_cd,
rate_cds : rate_cds
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
#endif
// Write a Current data packet
void Sub::Log_Write_Current()
{
@ -657,12 +603,6 @@ void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target
const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES,
#if AUTOTUNE_ENABLED == ENABLED
{ LOG_AUTOTUNE_MSG, sizeof(log_AutoTune),
"ATUN", "QBBfffffff", "TimeUS,Axis,TuneStep,Targ,Min,Max,RP,RD,SP,ddt" },
{ LOG_AUTOTUNEDETAILS_MSG, sizeof(log_AutoTuneDetails),
"ATDE", "Qff", "TimeUS,Angle,Rate" },
#endif
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
@ -761,10 +701,6 @@ void Sub::Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page) {}
#endif // CLI_ENABLED == ENABLED
void Sub::do_erase_logs(void) {}
void Sub::Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, \
float meas_min, float meas_max, float new_gain_rp, \
float new_gain_rd, float new_gain_sp, float new_ddt) {}
void Sub::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
void Sub::Log_Write_Current() {}
void Sub::Log_Write_Nav_Tuning() {}
void Sub::Log_Write_Control_Tuning() {}

36
ArduSub/Parameters.cpp
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@ -313,42 +313,42 @@ const AP_Param::Info Sub::var_info[] = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function if performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function if performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function if performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function if performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost vehicle Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw
// @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),
#endif
@ -832,30 +832,6 @@ const AP_Param::Info Sub::var_info[] = {
GOBJECT(rpm_sensor, "RPM", AP_RPM),
#endif
#if AUTOTUNE_ENABLED == ENABLED
// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Values: 7:All,1:Roll Only,2:Pitch Only,4:Yaw Only,3:Roll and Pitch,5:Roll and Yaw,6:Pitch and Yaw
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
GSCALAR(autotune_axis_bitmask, "AUTOTUNE_AXES", 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
// @Param: AUTOTUNE_AGGR
// @DisplayName: Autotune aggressiveness
// @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
// @Range: 0.05 0.10
// @User: Standard
GSCALAR(autotune_aggressiveness, "AUTOTUNE_AGGR", 0.1f),
// @Param: AUTOTUNE_MIN_D
// @DisplayName: AutoTune minimum D
// @Description: Defines the minimum D gain
// @Range: 0.001 0.006
// @User: Standard
GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.001f),
#endif
// @Group: NTF_
// @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify),

11
ArduSub/Parameters.h
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@ -236,10 +236,6 @@ public:
k_param_radio_tuning_high, // Disabled
k_param_radio_tuning_low, // Disabled
// Autotune parameters
k_param_autotune_axis_bitmask, // Disabled
k_param_autotune_aggressiveness, // Disabled
k_param_autotune_min_d, // Disabled
};
AP_Int16 format_version;
@ -367,13 +363,6 @@ public:
AC_P p_pos_xy;
AC_P p_alt_hold;
// Autotune
#if AUTOTUNE_ENABLED == ENABLED
AP_Int8 autotune_axis_bitmask;
AP_Float autotune_aggressiveness;
AP_Float autotune_min_d;
#endif
AP_Float surface_depth;
AP_Int8 frame_configuration;

28
ArduSub/Sub.h
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@ -547,10 +547,6 @@ private:
void gcs_check_input(void);
void gcs_send_text(MAV_SEVERITY severity, const char *str);
void do_erase_logs(void);
#if AUTOTUNE_ENABLED == ENABLED
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
#endif
void Log_Write_Current();
void Log_Write_Optflow();
void Log_Write_Nav_Tuning();
@ -624,30 +620,6 @@ private:
void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle);
void set_auto_yaw_roi(const Location &roi_location);
float get_auto_heading(void);
#if AUTOTUNE_ENABLED == ENABLED
bool autotune_init(bool ignore_checks);
void autotune_stop();
bool autotune_start(bool ignore_checks);
void autotune_run();
void autotune_attitude_control();
void autotune_backup_gains_and_initialise();
void autotune_load_orig_gains();
void autotune_load_tuned_gains();
void autotune_load_intra_test_gains();
void autotune_load_twitch_gains();
void autotune_save_tuning_gains();
void autotune_update_gcs(uint8_t message_id);
bool autotune_roll_enabled();
bool autotune_pitch_enabled();
bool autotune_yaw_enabled();
void autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max);
void autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
#endif
bool circle_init(bool ignore_checks);
void circle_run();
bool guided_init(bool ignore_checks);

6
ArduSub/config.h
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@ -263,12 +263,6 @@
# define OPTFLOW DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Auto Tuning
#ifndef AUTOTUNE_ENABLED
# define AUTOTUNE_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// gripper
#ifndef GRIPPER_ENABLED

1323
ArduSub/control_autotune.cpp
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File diff suppressed because it is too large Load Diff

15
ArduSub/defines.h
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@ -57,7 +57,6 @@ enum aux_sw_func {
// AUXSW_SPRAYER = 15, // enable/disable the crop sprayer
AUXSW_AUTO = 16, // change to auto flight mode
AUXSW_AUTOTUNE = 17, // auto tune
AUXSW_LAND = 18, // change to LAND flight mode
AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
@ -100,7 +99,6 @@ enum control_mode_t {
CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle
SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
OF_LOITER = 10, // deprecated
AUTOTUNE = 15, // not implemented in sub // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
MANUAL = 19 // Pass-through input with no stabilization
};
@ -252,8 +250,6 @@ enum LoiterModeState {
#define LOG_DATA_INT32_MSG 0x16
#define LOG_DATA_UINT32_MSG 0x17
#define LOG_DATA_FLOAT_MSG 0x18
#define LOG_AUTOTUNE_MSG 0x19
#define LOG_AUTOTUNEDETAILS_MSG 0x1A
#define LOG_MOTBATT_MSG 0x1E
#define LOG_PARAMTUNE_MSG 0x1F
#define LOG_HELI_MSG 0x20
@ -299,14 +295,6 @@ enum LoiterModeState {
#define DATA_SET_SIMPLE_ON 26
#define DATA_SET_SIMPLE_OFF 27
#define DATA_SET_SUPERSIMPLE_ON 29
#define DATA_AUTOTUNE_INITIALISED 30
#define DATA_AUTOTUNE_OFF 31
#define DATA_AUTOTUNE_RESTART 32
#define DATA_AUTOTUNE_SUCCESS 33
#define DATA_AUTOTUNE_FAILED 34
#define DATA_AUTOTUNE_REACHED_LIMIT 35
#define DATA_AUTOTUNE_PILOT_TESTING 36
#define DATA_AUTOTUNE_SAVEDGAINS 37
#define DATA_SAVE_TRIM 38
#define DATA_SAVEWP_ADD_WP 39
#define DATA_FENCE_ENABLE 41
@ -351,8 +339,7 @@ enum LoiterModeState {
#define ERROR_SUBSYSTEM_FLIGHT_MODE 10
#define ERROR_SUBSYSTEM_GPS 11 // not used
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
//#define ERROR_SUBSYSTEM_FLIP 13
#define ERROR_SUBSYSTEM_AUTOTUNE 14
//#define ERROR_SUBSYSTEM_FLIP 13 // Remove
//#define ERROR_SUBSYSTEM_PARACHUTE 15 // Remove
#define ERROR_SUBSYSTEM_EKFCHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17

2
ArduSub/events.cpp
View File

@ -285,7 +285,7 @@ bool Sub::should_disarm_on_failsafe()
return !ap.auto_armed;
break;
default:
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, PosHold
// if landed disarm
// return ap.land_complete;
return false;

21
ArduSub/flight_mode.cpp
View File

@ -57,12 +57,6 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
success = surface_init(ignore_checks);
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init(ignore_checks);
@ -150,12 +144,6 @@ void Sub::update_flight_mode()
surface_run();
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
autotune_run();
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
poshold_run();
@ -174,12 +162,6 @@ void Sub::update_flight_mode()
// exit_mode - high level call to organise cleanup as a flight mode is exited
void Sub::exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode)
{
#if AUTOTUNE_ENABLED == ENABLED
if (old_control_mode == AUTOTUNE) {
autotune_stop();
}
#endif
// stop mission when we leave auto mode
if (old_control_mode == AUTO) {
if (mission.state() == AP_Mission::MISSION_RUNNING) {
@ -284,9 +266,6 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case OF_LOITER:
port->print("OF_LOITER");
break;
case AUTOTUNE:
port->print("AUTOTUNE");
break;
case POSHOLD:
port->print("POSHOLD");
break;

5
ArduSub/motors.cpp
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@ -139,11 +139,6 @@ void Sub::init_disarm_motors()
}
}
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
autotune_save_tuning_gains();
#endif
// log disarm to the dataflash
Log_Write_Event(DATA_DISARMED);

19
ArduSub/switches.cpp
View File

@ -280,25 +280,6 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
}
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUXSW_AUTOTUNE:
// turn on auto tuner
switch (ch_flag) {
case AUX_SWITCH_LOW:
case AUX_SWITCH_MIDDLE:
// restore flight mode based on flight mode switch position
if (control_mode == AUTOTUNE) {
// reset_control_switch();
}
break;
case AUX_SWITCH_HIGH:
// start an autotuning session
set_mode(AUTOTUNE);
break;
}
break;
#endif
case AUXSW_LAND:
// Do nothing for Sub

1
ArduSub/tuning.cpp
View File

@ -3,7 +3,6 @@
/*
* tuning.pde - function to update various parameters in flight using the ch6 tuning knob
* This should not be confused with the AutoTune feature which can bve found in control_autotune.pde
*/
// tuning - updates parameters based on the ch6 tuning knob's position