mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.7 KiB
C++
111 lines
3.7 KiB
C++
#include <AP_Tuning/AP_Tuning.h>
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/*
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Plane transmitter tuning
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*/
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class AP_Tuning_Plane : public AP_Tuning
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{
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private:
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// table of tuning sets
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static const tuning_set tuning_sets[];
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// table of tuning parameter names for reporting
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static const tuning_name tuning_names[];
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public:
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// constructor
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AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// individual tuning parameters
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enum tuning_func {
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TUNING_NONE = 0,
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// quadplane tuning
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TUNING_RATE_ROLL_PI = 1,
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TUNING_RATE_ROLL_P = 2,
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TUNING_RATE_ROLL_I = 3,
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TUNING_RATE_ROLL_D = 4,
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TUNING_RATE_PITCH_PI = 5,
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TUNING_RATE_PITCH_P = 6,
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TUNING_RATE_PITCH_I = 7,
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TUNING_RATE_PITCH_D = 8,
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TUNING_RATE_YAW_PI = 9,
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TUNING_RATE_YAW_P = 10,
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TUNING_RATE_YAW_I = 11,
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TUNING_RATE_YAW_D = 12,
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TUNING_ANG_ROLL_P = 13,
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TUNING_ANG_PITCH_P = 14,
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TUNING_ANG_YAW_P = 15,
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TUNING_PXY_P = 16,
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TUNING_PZ_P = 17,
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TUNING_VXY_P = 18,
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TUNING_VXY_I = 19,
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TUNING_VZ_P = 20,
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TUNING_AZ_P = 21,
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TUNING_AZ_I = 22,
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TUNING_AZ_D = 23,
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TUNING_RATE_PITCH_FF = 24,
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TUNING_RATE_ROLL_FF = 25,
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TUNING_RATE_YAW_FF = 26,
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// fixed wing tuning
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TUNING_FIXED_WING_BASE = 50,
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TUNING_RLL_P = 50,
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TUNING_RLL_I = 51,
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TUNING_RLL_D = 52,
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TUNING_RLL_FF = 53,
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TUNING_PIT_P = 54,
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TUNING_PIT_I = 55,
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TUNING_PIT_D = 56,
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TUNING_PIT_FF = 57,
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};
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/*
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sets of tuning values, chosen with TUNE_PARMSET over 100
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*/
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enum tuning_sets {
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TUNING_SET_RATE_ROLL_PITCH = 1,
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TUNING_SET_RATE_ROLL = 2,
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TUNING_SET_RATE_PITCH = 3,
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TUNING_SET_RATE_YAW = 4,
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TUNING_SET_ANG_ROLL_PITCH = 5,
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TUNING_SET_VXY = 6,
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TUNING_SET_AZ = 7,
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TUNING_SET_RATE_PITCHDP = 8,
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TUNING_SET_RATE_ROLLDP = 9,
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TUNING_SET_RATE_YAWDP = 10,
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};
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AP_Float *get_param_pointer(uint8_t parm) override;
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void save_value(uint8_t parm) override;
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void reload_value(uint8_t parm) override;
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void set_value(uint8_t parm, float value) override;
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// tuning set arrays
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static const uint8_t tuning_set_rate_roll_pitch[];
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static const uint8_t tuning_set_rate_roll[];
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static const uint8_t tuning_set_rate_pitch[];
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static const uint8_t tuning_set_rate_yaw[];
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static const uint8_t tuning_set_ang_roll_pitch[];
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static const uint8_t tuning_set_vxy[];
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static const uint8_t tuning_set_az[];
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static const uint8_t tuning_set_rate_pitchDP[];
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static const uint8_t tuning_set_rate_rollDP[];
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static const uint8_t tuning_set_rate_yawDP[];
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// mask of what params have been set
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uint64_t have_set;
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};
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