Plane: Added Quicktune

replaces QAUTOTUNE in default build

ArduPlane/ArduPlane.cpp

@@ -139,6 +139,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(precland_update, 400, 50, 160),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune, 40, 100, 163),
+#endif
 };
 
 void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -1025,4 +1028,16 @@ void Plane::precland_update(void)
 }
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Plane::update_quicktune(void)
+{
+    quicktune.update(control_mode->supports_quicktune());
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);

ArduPlane/Parameters.cpp

@@ -1038,6 +1038,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
+#if AP_QUICKTUNE_ENABLED
+    // @Group: QWIK_
+    // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
+    GOBJECT(quicktune, "QWIK_",  AP_Quicktune),
+#endif
+    
     AP_VAREND
 };
 

ArduPlane/Parameters.h

@@ -362,6 +362,7 @@ public:
         k_param_takeoff_throttle_idle,
 
         k_param_pullup = 270,
+        k_param_quicktune,
     };
 
     AP_Int16 format_version;

ArduPlane/Plane.h

@@ -330,6 +330,10 @@ private:
     ModeThermal mode_thermal;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    AP_Quicktune quicktune;
+#endif
+    
     // This is the state of the flight control system
     // There are multiple states defined such as MANUAL, FBW-A, AUTO
     Mode *control_mode = &mode_initializing;
@@ -875,6 +879,10 @@ private:
     static const TerrainLookupTable Terrain_lookup[];
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
+
     // Attitude.cpp
     void adjust_nav_pitch_throttle(void);
     void update_load_factor(void);

ArduPlane/RC_Channel.cpp

@@ -1,6 +1,7 @@
 #include "Plane.h"
 
 #include "RC_Channel.h"
+#include "qautotune.h"
 
 // defining these two macros and including the RC_Channels_VarInfo
 // header defines the parameter information common to all vehicle
@@ -176,6 +177,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
 #endif
 #if QAUTOTUNE_ENABLED
     case AUX_FUNC::AUTOTUNE_TEST_GAINS:
+#endif
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
 #endif
         break;
 
@@ -458,6 +462,12 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
+        plane.quicktune.update_switch_pos(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduPlane/RC_Channel.h

@@ -30,7 +30,6 @@ private:
     void do_aux_function_soaring_3pos(AuxSwitchPos ch_flag);
 
     void do_aux_function_flare(AuxSwitchPos ch_flag);
-
 };
 
 class RC_Channels_Plane : public RC_Channels

ArduPlane/mode.h

@@ -11,6 +11,12 @@
 #include <AP_Mission/AP_Mission.h>
 #include "pullup.h"
 
+#ifndef AP_QUICKTUNE_ENABLED
+#define AP_QUICKTUNE_ENABLED HAL_QUADPLANE_ENABLED
+#endif
+
+#include <AP_Quicktune/AP_Quicktune.h>
+
 class AC_PosControl;
 class AC_AttitudeControl_Multi;
 class AC_Loiter;
@@ -142,6 +148,11 @@ public:
     // true if voltage correction should be applied to throttle
     virtual bool use_battery_compensation() const;
 
+#if AP_QUICKTUNE_ENABLED
+    // does this mode support VTOL quicktune?
+    virtual bool supports_quicktune() const { return false; }
+#endif
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -325,6 +336,9 @@ protected:
 
     bool _enter() override;
     bool _pre_arm_checks(size_t buflen, char *buffer) const override { return true; }
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 
 private:
     float active_radius_m;
@@ -662,6 +676,9 @@ public:
 protected:
 
     bool _enter() override;
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 };
 
 class ModeQLoiter : public Mode
@@ -688,6 +705,10 @@ protected:
 
     bool _enter() override;
     uint32_t last_target_loc_set_ms;
+
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 };
 
 class ModeQLand : public Mode

ArduPlane/qautotune.h

@@ -8,7 +8,7 @@
 
 #include "quadplane.h"
 #ifndef QAUTOTUNE_ENABLED
-  #define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED
+#define QAUTOTUNE_ENABLED (HAL_QUADPLANE_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
 
 #if QAUTOTUNE_ENABLED

ArduPlane/wscript

@@ -27,6 +27,7 @@ def build(bld):
             'AP_Follow',
             'AC_PrecLand',
             'AP_IRLock',
+            'AP_Quicktune',
         ],
     )