ardupilot/ArduPlane/qautotune.h

32 lines
626 B
C++

/*
support for autotune of quadplanes
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "quadplane.h"
#define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED && !HAL_MINIMIZE_FEATURES
#if QAUTOTUNE_ENABLED
#include <AC_AutoTune/AC_AutoTune.h>
class QAutoTune : public AC_AutoTune
{
public:
friend class QuadPlane;
bool init() override;
protected:
float get_pilot_desired_climb_rate_cms(void) const override;
void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
void init_z_limits() override;
void log_pids() override;
};
#endif // QAUTOTUNE_ENABLED