mirror of https://github.com/ArduPilot/ardupilot
35 lines
684 B
C++
35 lines
684 B
C++
/*
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support for autotune of quadplanes
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include "quadplane.h"
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#ifndef QAUTOTUNE_ENABLED
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#define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED
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#endif
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#if QAUTOTUNE_ENABLED
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#include <AC_AutoTune/AC_AutoTune_Multi.h>
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class QAutoTune : public AC_AutoTune_Multi
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{
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public:
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friend class QuadPlane;
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bool init() override;
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protected:
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float get_pilot_desired_climb_rate_cms(void) const override;
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void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
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void init_z_limits() override;
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#if HAL_LOGGING_ENABLED
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void log_pids() override;
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#endif
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};
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#endif // QAUTOTUNE_ENABLED
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