mirror of https://github.com/ArduPilot/ardupilot
Plane: convert tuning to use AP_Tuning library
This commit is contained in:
Andrew Tridgell
parent
9cd4f8a856
commit
db5f50e08e
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@ -508,8 +508,6 @@ const struct LogStructure Plane::log_structure[] = {
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{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
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"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
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#endif
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{ LOG_PARAMTUNE_MSG, sizeof(Tuning::log_ParameterTuning),
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"PTUN", "QBfff", "TimeUS,Param,TunVal,TunLo,TunHi" },
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TECS_LOG_FORMAT(LOG_TECS_MSG)
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};
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@ -1117,7 +1117,7 @@ const AP_Param::Info Plane::var_info[] = {
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// @Group: TUNE_
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// @Path: tuning.cpp
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GOBJECT(tuning, "TUNE_", Tuning),
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GOBJECT(tuning, "TUNE_", AP_Tuning_Plane),
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// @Group: Q_A_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -133,7 +133,7 @@ public:
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friend class Parameters;
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friend class AP_Arming_Plane;
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friend class QuadPlane;
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friend class Tuning;
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friend class AP_Tuning_Plane;
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Plane(void);
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@ -740,7 +740,7 @@ private:
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QuadPlane quadplane{ahrs};
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// support for transmitter tuning
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Tuning tuning;
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AP_Tuning_Plane tuning;
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static const struct LogStructure log_structure[];
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@ -54,3 +54,4 @@ LIBRARIES += AC_AttitudeControl
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LIBRARIES += AC_PID
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LIBRARIES += AP_InertialNav
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LIBRARIES += AC_WPNav
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LIBRARIES += AP_Tuning
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@ -24,7 +24,8 @@ class QuadPlane
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{
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public:
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friend class Plane;
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friend class Tuning;
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friend class AP_Tuning_Plane;
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QuadPlane(AP_AHRS_NavEKF &_ahrs);
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// var_info for holding Parameter information
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@ -221,7 +221,8 @@ void Plane::read_radio()
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rudder_input = channel_rudder->control_in;
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}
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tuning.check_input();
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// check for transmitter tuning changes
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tuning.check_input(control_mode);
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}
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void Plane::control_failsafe(uint16_t pwm)
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@ -2,114 +2,65 @@
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#include "Plane.h"
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const AP_Param::GroupInfo Tuning::var_info[] = {
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/*
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tables of tuning sets
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*/
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_roll_pitch[] = { TUNING_Q_RATE_ROLL_KD, TUNING_Q_RATE_ROLL_KPI,
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TUNING_Q_RATE_PITCH_KD, TUNING_Q_RATE_PITCH_KPI};
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_roll[] = { TUNING_Q_RATE_ROLL_KD, TUNING_Q_RATE_ROLL_KPI };
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_pitch[] = { TUNING_Q_RATE_PITCH_KD, TUNING_Q_RATE_PITCH_KPI };
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// @Param: CHAN
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// @DisplayName: Transmitter tuning channel
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// @Description: This sets the channel for transmitter tuning
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// @Values: 0:Disable,1:Chan1,2:Chan3,3:Chan3,4:Chan4,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
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// @User: Standard
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AP_GROUPINFO_FLAGS("CHAN", 1, Tuning, channel, 0, AP_PARAM_FLAG_ENABLE),
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// macro to prevent getting the array length wrong
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#define TUNING_ARRAY(v) ARRAY_SIZE(v), v
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// @Param: PARM
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// @DisplayName: Transmitter tuning parameter
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// @Description: This sets which parameter or combination of parameters will be tuned
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// @Values: 0:None,1:QuadRateRollPitch_PI,2:QuadRateRollPitch_P,3:QuadRateRollPitch_I,4:QuadRateRollPitch_D,5:QuadRATE_ROLL_PI,6:QuadRateRoll_P,7:QuadRateRoll_I,8:QuadRateRoll_D,9:QuadRatePitch_PI,10:QuadRatePitch_P,11:QuadRatePitch_I,12:QuadRatePitch_D,13:QuadRateYaw_PI,14:QuadRateYaw_P,15:QuadRateYaw_I,16:QuadRateYaw_D,17:QuadAngleRoll_P,18:QuadAnglePitch_P,19:QuadAngleYaw_P,20:QuadPXY_P,21:QuadPZ_P,22:QuadVXY_P,23:QuadVXY_I,24:QuadVZ_P,25:QuadAZ_P,26:QuadAZ_I,27:QuadAZ_D,28:Roll_P,29:Roll_I,30:Roll_D,31:Roll_FF,32:Pitch_P,33:Pitch_I,34:Pitch_D,35:Pitch_FF
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// @User: Standard
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AP_GROUPINFO("PARM", 2, Tuning, parm, 0),
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// @Param: MIN
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// @DisplayName: Transmitter tuning minimum value
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// @Description: This sets the minimum value
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// @User: Standard
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AP_GROUPINFO("MIN", 3, Tuning, minimum, 0),
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// @Param: MAX
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// @DisplayName: Transmitter tuning maximum value
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// @Description: This sets the maximum value
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// @User: Standard
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AP_GROUPINFO("MAX", 4, Tuning, maximum, 0),
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AP_GROUPEND
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// list of tuning sets
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const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
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{ TUNING_SET_Q_RATE_ROLL_PITCH, TUNING_ARRAY(tuning_set_q_rate_roll_pitch) },
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{ TUNING_SET_Q_RATE_ROLL, TUNING_ARRAY(tuning_set_q_rate_roll) },
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{ TUNING_SET_Q_RATE_PITCH, TUNING_ARRAY(tuning_set_q_rate_pitch) },
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{ TUNING_SET_NONE, 0, nullptr }
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};
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/*
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constructor
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table of tuning names
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*/
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Tuning::Tuning(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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const AP_Tuning_Plane::tuning_name AP_Tuning_Plane::tuning_names[] = {
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{ TUNING_Q_RATE_ROLL_KPI, "Q_RateRollPI" },
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{ TUNING_Q_RATE_ROLL_KD, "Q_RateRollD" },
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{ TUNING_Q_RATE_PITCH_KPI,"Q_RatePitchPI" },
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{ TUNING_Q_RATE_PITCH_KD, "Q_RatePitchD" },
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{ TUNING_NONE, nullptr }
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};
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/*
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check for changed tuning input
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get a pointer to an AP_Float for a parameter, or NULL on fail
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*/
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void Tuning::check_input(void)
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AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
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{
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if (channel <= 0 || parm <= 0) {
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// disabled
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return;
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}
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// only adjust values at 4Hz
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uint32_t now = AP_HAL::millis();
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if (now - last_check_ms < 250) {
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return;
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}
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last_check_ms = now;
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if (channel > hal.rcin->num_channels()) {
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return;
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}
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RC_Channel *chan = RC_Channel::rc_channel(channel-1);
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if (chan == nullptr) {
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return;
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}
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uint8_t input = chan->percent_input();
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if (input == last_input_pct) {
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// no change
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return;
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}
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last_input_pct = input;
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float tuning_value = minimum + (maximum-minimum)*(input*0.01f);
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Log_Write_Parameter_Tuning((uint8_t)parm.get(), tuning_value, minimum, maximum);
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switch((enum tuning_func)parm.get()) {
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switch (parm) {
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case TUNING_RLL_P:
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plane.rollController.kP(tuning_value);
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break;
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return &plane.rollController.kP();
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case TUNING_RLL_I:
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plane.rollController.kI(tuning_value);
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break;
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return &plane.rollController.kI();
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case TUNING_RLL_D:
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plane.rollController.kD(tuning_value);
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break;
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return &plane.rollController.kD();
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case TUNING_RLL_FF:
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plane.rollController.kFF(tuning_value);
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break;
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return &plane.rollController.kFF();
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case TUNING_PIT_P:
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plane.pitchController.kP(tuning_value);
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break;
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return &plane.pitchController.kP();
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case TUNING_PIT_I:
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plane.pitchController.kI(tuning_value);
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break;
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return &plane.pitchController.kI();
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case TUNING_PIT_D:
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plane.pitchController.kD(tuning_value);
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break;
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return &plane.pitchController.kD();
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case TUNING_PIT_FF:
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plane.pitchController.kFF(tuning_value);
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break;
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return &plane.pitchController.kFF();
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default:
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break;
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@ -117,146 +68,156 @@ void Tuning::check_input(void)
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if (!plane.quadplane.available()) {
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// quadplane tuning options not available
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return;
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return nullptr;
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}
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switch((enum tuning_func)parm.get()) {
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case TUNING_Q_RATE_ROLL_PITCH_KPI:
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plane.quadplane.attitude_control->get_rate_roll_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_roll_pid().kI(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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case TUNING_Q_RATE_ROLL_PITCH_KP:
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plane.quadplane.attitude_control->get_rate_roll_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kP(tuning_value);
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break;
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case TUNING_Q_RATE_ROLL_PITCH_KI:
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plane.quadplane.attitude_control->get_rate_roll_pid().kI(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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case TUNING_Q_RATE_ROLL_PITCH_KD:
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plane.quadplane.attitude_control->get_rate_roll_pid().kD(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kD(tuning_value);
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break;
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switch(parm) {
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case TUNING_Q_RATE_ROLL_KPI:
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plane.quadplane.attitude_control->get_rate_roll_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_roll_pid().kI(tuning_value);
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break;
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// use P for initial value when tuning PI
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_Q_RATE_ROLL_KP:
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plane.quadplane.attitude_control->get_rate_roll_pid().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_Q_RATE_ROLL_KI:
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plane.quadplane.attitude_control->get_rate_roll_pid().kI(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kI();
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case TUNING_Q_RATE_ROLL_KD:
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plane.quadplane.attitude_control->get_rate_roll_pid().kD(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kD();
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case TUNING_Q_RATE_PITCH_KPI:
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plane.quadplane.attitude_control->get_rate_pitch_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_Q_RATE_PITCH_KP:
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plane.quadplane.attitude_control->get_rate_pitch_pid().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_Q_RATE_PITCH_KI:
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plane.quadplane.attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kI();
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case TUNING_Q_RATE_PITCH_KD:
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plane.quadplane.attitude_control->get_rate_pitch_pid().kD(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kD();
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case TUNING_Q_RATE_YAW_KPI:
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plane.quadplane.attitude_control->get_rate_yaw_pid().kP(tuning_value);
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plane.quadplane.attitude_control->get_rate_yaw_pid().kI(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_Q_RATE_YAW_KP:
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plane.quadplane.attitude_control->get_rate_yaw_pid().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_Q_RATE_YAW_KI:
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plane.quadplane.attitude_control->get_rate_yaw_pid().kI(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kI();
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case TUNING_Q_RATE_YAW_KD:
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plane.quadplane.attitude_control->get_rate_yaw_pid().kD(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kD();
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case TUNING_Q_ANG_ROLL_KP:
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plane.quadplane.attitude_control->get_angle_roll_p().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_angle_roll_p().kP();
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case TUNING_Q_ANG_PITCH_KP:
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plane.quadplane.attitude_control->get_angle_pitch_p().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_angle_pitch_p().kP();
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case TUNING_Q_ANG_YAW_KP:
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plane.quadplane.attitude_control->get_angle_yaw_p().kP(tuning_value);
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break;
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return &plane.quadplane.attitude_control->get_angle_yaw_p().kP();
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case TUNING_Q_PXY_P:
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plane.quadplane.p_pos_xy.kP(tuning_value);
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break;
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return &plane.quadplane.p_pos_xy.kP();
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case TUNING_Q_PZ_P:
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plane.quadplane.p_alt_hold.kP(tuning_value);
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break;
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return &plane.quadplane.p_alt_hold.kP();
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case TUNING_Q_VXY_P:
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plane.quadplane.pi_vel_xy.kP(tuning_value);
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break;
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return &plane.quadplane.pi_vel_xy.kP();
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case TUNING_Q_VXY_I:
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plane.quadplane.pi_vel_xy.kI(tuning_value);
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break;
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return &plane.quadplane.pi_vel_xy.kI();
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case TUNING_Q_VZ_P:
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plane.quadplane.p_vel_z.kP(tuning_value);
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break;
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return &plane.quadplane.p_vel_z.kP();
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case TUNING_Q_AZ_P:
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plane.quadplane.pid_accel_z.kP(tuning_value);
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break;
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return &plane.quadplane.pid_accel_z.kP();
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case TUNING_Q_AZ_I:
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plane.quadplane.pid_accel_z.kI(tuning_value);
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break;
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return &plane.quadplane.pid_accel_z.kI();
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case TUNING_Q_AZ_D:
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plane.quadplane.pid_accel_z.kD(tuning_value);
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break;
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return &plane.quadplane.pid_accel_z.kD();
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default:
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return;
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break;
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}
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return nullptr;
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}
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/*
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save a parameter
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*/
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void AP_Tuning_Plane::save_value(uint8_t parm)
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{
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switch(parm) {
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// special handling of dual-parameters
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case TUNING_Q_RATE_ROLL_KPI:
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save_value(TUNING_Q_RATE_ROLL_KP);
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save_value(TUNING_Q_RATE_ROLL_KI);
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break;
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case TUNING_Q_RATE_PITCH_KPI:
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save_value(TUNING_Q_RATE_PITCH_KP);
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save_value(TUNING_Q_RATE_PITCH_KI);
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break;
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default:
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AP_Float *f = get_param_pointer(parm);
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if (f != nullptr) {
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f->save();
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}
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break;
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}
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}
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/*
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log a tuning change
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set a parameter
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*/
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void Tuning::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high)
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void AP_Tuning_Plane::set_value(uint8_t parm, float value)
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{
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struct log_ParameterTuning pkt_tune = {
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LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
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time_us : AP_HAL::micros64(),
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parameter : param,
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tuning_value : tuning_val,
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tuning_low : tune_low,
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tuning_high : tune_high
|
||||
};
|
||||
|
||||
plane.DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
|
||||
switch(parm) {
|
||||
// special handling of dual-parameters
|
||||
case TUNING_Q_RATE_ROLL_KPI:
|
||||
set_value(TUNING_Q_RATE_ROLL_KP, value);
|
||||
set_value(TUNING_Q_RATE_ROLL_KI, value);
|
||||
break;
|
||||
case TUNING_Q_RATE_PITCH_KPI:
|
||||
set_value(TUNING_Q_RATE_PITCH_KP, value);
|
||||
set_value(TUNING_Q_RATE_PITCH_KI, value);
|
||||
break;
|
||||
default:
|
||||
AP_Float *f = get_param_pointer(parm);
|
||||
if (f != nullptr) {
|
||||
f->set_and_notify(value);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
reload a parameter
|
||||
*/
|
||||
void AP_Tuning_Plane::reload_value(uint8_t parm)
|
||||
{
|
||||
switch(parm) {
|
||||
// special handling of dual-parameters
|
||||
case TUNING_Q_RATE_ROLL_KPI:
|
||||
reload_value(TUNING_Q_RATE_ROLL_KP);
|
||||
reload_value(TUNING_Q_RATE_ROLL_KI);
|
||||
break;
|
||||
case TUNING_Q_RATE_PITCH_KPI:
|
||||
reload_value(TUNING_Q_RATE_PITCH_KP);
|
||||
reload_value(TUNING_Q_RATE_PITCH_KI);
|
||||
break;
|
||||
default:
|
||||
AP_Float *f = get_param_pointer(parm);
|
||||
if (f != nullptr) {
|
||||
f->load();
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,88 +1,85 @@
|
|||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#include <AP_Tuning/AP_Tuning.h>
|
||||
|
||||
/*
|
||||
Plane transmitter tuning
|
||||
*/
|
||||
class Tuning
|
||||
class AP_Tuning_Plane : public AP_Tuning
|
||||
{
|
||||
private:
|
||||
// table of tuning sets
|
||||
static const tuning_set tuning_sets[];
|
||||
|
||||
// table of tuning parameter names for reporting
|
||||
static const tuning_name tuning_names[];
|
||||
|
||||
public:
|
||||
friend class Plane;
|
||||
|
||||
Tuning(void);
|
||||
|
||||
// var_info for holding Parameter information
|
||||
static const struct AP_Param::GroupInfo var_info[];
|
||||
|
||||
void check_input(void);
|
||||
// constructor
|
||||
AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {}
|
||||
|
||||
private:
|
||||
AP_Int8 channel;
|
||||
AP_Int8 parm;
|
||||
AP_Float minimum;
|
||||
AP_Float maximum;
|
||||
|
||||
uint8_t last_input_pct = 255;
|
||||
uint32_t last_check_ms;
|
||||
|
||||
struct PACKED log_ParameterTuning {
|
||||
LOG_PACKET_HEADER;
|
||||
uint64_t time_us;
|
||||
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
|
||||
float tuning_value; // normalized value used inside tuning() function
|
||||
float tuning_low; // tuning low end value
|
||||
float tuning_high; // tuning high end value
|
||||
};
|
||||
|
||||
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high);
|
||||
|
||||
enum tuning_func {
|
||||
TUNING_NONE = 0,
|
||||
|
||||
// quadplane tuning
|
||||
TUNING_Q_RATE_ROLL_PITCH_KPI = 1,
|
||||
TUNING_Q_RATE_ROLL_PITCH_KP = 2,
|
||||
TUNING_Q_RATE_ROLL_PITCH_KI = 3,
|
||||
TUNING_Q_RATE_ROLL_PITCH_KD = 4,
|
||||
TUNING_Q_RATE_ROLL_KPI = 1,
|
||||
TUNING_Q_RATE_ROLL_KP = 2,
|
||||
TUNING_Q_RATE_ROLL_KI = 3,
|
||||
TUNING_Q_RATE_ROLL_KD = 4,
|
||||
|
||||
TUNING_Q_RATE_ROLL_KPI = 5,
|
||||
TUNING_Q_RATE_ROLL_KP = 6,
|
||||
TUNING_Q_RATE_ROLL_KI = 7,
|
||||
TUNING_Q_RATE_ROLL_KD = 8,
|
||||
TUNING_Q_RATE_PITCH_KPI = 5,
|
||||
TUNING_Q_RATE_PITCH_KP = 6,
|
||||
TUNING_Q_RATE_PITCH_KI = 7,
|
||||
TUNING_Q_RATE_PITCH_KD = 8,
|
||||
|
||||
TUNING_Q_RATE_PITCH_KPI = 9,
|
||||
TUNING_Q_RATE_PITCH_KP = 10,
|
||||
TUNING_Q_RATE_PITCH_KI = 11,
|
||||
TUNING_Q_RATE_PITCH_KD = 12,
|
||||
TUNING_Q_RATE_YAW_KPI = 9,
|
||||
TUNING_Q_RATE_YAW_KP = 10,
|
||||
TUNING_Q_RATE_YAW_KI = 11,
|
||||
TUNING_Q_RATE_YAW_KD = 12,
|
||||
|
||||
TUNING_Q_RATE_YAW_KPI = 13,
|
||||
TUNING_Q_RATE_YAW_KP = 14,
|
||||
TUNING_Q_RATE_YAW_KI = 15,
|
||||
TUNING_Q_RATE_YAW_KD = 16,
|
||||
TUNING_Q_ANG_ROLL_KP = 13,
|
||||
TUNING_Q_ANG_PITCH_KP = 14,
|
||||
TUNING_Q_ANG_YAW_KP = 15,
|
||||
|
||||
TUNING_Q_ANG_ROLL_KP = 17,
|
||||
TUNING_Q_ANG_PITCH_KP = 18,
|
||||
TUNING_Q_ANG_YAW_KP = 19,
|
||||
TUNING_Q_PXY_P = 16,
|
||||
TUNING_Q_PZ_P = 17,
|
||||
|
||||
TUNING_Q_PXY_P = 20,
|
||||
TUNING_Q_PZ_P = 21,
|
||||
TUNING_Q_VXY_P = 18,
|
||||
TUNING_Q_VXY_I = 19,
|
||||
TUNING_Q_VZ_P = 20,
|
||||
|
||||
TUNING_Q_VXY_P = 22,
|
||||
TUNING_Q_VXY_I = 23,
|
||||
TUNING_Q_VZ_P = 24,
|
||||
|
||||
TUNING_Q_AZ_P = 25,
|
||||
TUNING_Q_AZ_I = 26,
|
||||
TUNING_Q_AZ_D = 27,
|
||||
TUNING_Q_AZ_P = 21,
|
||||
TUNING_Q_AZ_I = 22,
|
||||
TUNING_Q_AZ_D = 23,
|
||||
|
||||
// fixed wing tuning
|
||||
TUNING_RLL_P = 28,
|
||||
TUNING_RLL_I = 29,
|
||||
TUNING_RLL_D = 30,
|
||||
TUNING_RLL_FF = 31,
|
||||
TUNING_RLL_P = 24,
|
||||
TUNING_RLL_I = 25,
|
||||
TUNING_RLL_D = 26,
|
||||
TUNING_RLL_FF = 27,
|
||||
|
||||
TUNING_PIT_P = 32,
|
||||
TUNING_PIT_I = 33,
|
||||
TUNING_PIT_D = 34,
|
||||
TUNING_PIT_FF = 35,
|
||||
TUNING_PIT_P = 28,
|
||||
TUNING_PIT_I = 29,
|
||||
TUNING_PIT_D = 30,
|
||||
TUNING_PIT_FF = 31,
|
||||
};
|
||||
|
||||
enum tuning_sets {
|
||||
TUNING_SET_NONE = 0,
|
||||
|
||||
TUNING_SET_Q_RATE_ROLL_PITCH = 1,
|
||||
TUNING_SET_Q_RATE_ROLL = 2,
|
||||
TUNING_SET_Q_RATE_PITCH = 3,
|
||||
};
|
||||
|
||||
AP_Float *get_param_pointer(uint8_t parm);
|
||||
void save_value(uint8_t parm);
|
||||
void reload_value(uint8_t parm);
|
||||
void set_value(uint8_t parm, float value);
|
||||
|
||||
// tuning set arrays
|
||||
static const uint8_t tuning_set_q_rate_roll_pitch[];
|
||||
static const uint8_t tuning_set_q_rate_roll[];
|
||||
static const uint8_t tuning_set_q_rate_pitch[];
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue