From 4cb9ee947b965afae6b0c45c26d19d636c5454aa Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 25 Nov 2016 16:31:08 -0500 Subject: [PATCH] Sub: Disable autotune parameters --- ArduSub/Parameters.cpp | 2 ++ ArduSub/Parameters.h | 2 ++ ArduSub/Sub.h | 4 ++++ 3 files changed, 8 insertions(+) diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index 86531b416d..cc6fe109bc 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -1009,6 +1009,7 @@ const AP_Param::Info Sub::var_info[] = { // @Path: ../libraries/AP_RPM/AP_RPM.cpp GOBJECT(rpm_sensor, "RPM", AP_RPM), +#if AUTOTUNE_ENABLED == ENABLED // @Param: AUTOTUNE_AXES // @DisplayName: Autotune axis bitmask // @Description: 1-byte bitmap of axes to autotune @@ -1030,6 +1031,7 @@ const AP_Param::Info Sub::var_info[] = { // @Range: 0.001 0.006 // @User: Standard GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.001f), +#endif // @Group: NTF_ // @Path: ../libraries/AP_Notify/AP_Notify.cpp diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h index f341345b47..c2ff1ec423 100644 --- a/ArduSub/Parameters.h +++ b/ArduSub/Parameters.h @@ -456,9 +456,11 @@ public: // Autotune +#if AUTOTUNE_ENABLED == ENABLED AP_Int8 autotune_axis_bitmask; AP_Float autotune_aggressiveness; AP_Float autotune_min_d; +#endif AP_Float surface_depth; diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h index b72bd2c120..c43c9f1380 100644 --- a/ArduSub/Sub.h +++ b/ArduSub/Sub.h @@ -565,8 +565,10 @@ private: void gcs_check_input(void); void gcs_send_text(MAV_SEVERITY severity, const char *str); void do_erase_logs(void); +#if AUTOTUNE_ENABLED == ENABLED void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt); void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds); +#endif void Log_Write_Current(); void Log_Write_Optflow(); void Log_Write_Nav_Tuning(); @@ -645,6 +647,7 @@ private: void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle); void set_auto_yaw_roi(const Location &roi_location); float get_auto_heading(void); +#if AUTOTUNE_ENABLED == ENABLED bool autotune_init(bool ignore_checks); void autotune_stop(); bool autotune_start(bool ignore_checks); @@ -667,6 +670,7 @@ private: void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max); void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max); void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max); +#endif bool circle_init(bool ignore_checks); void circle_run(); bool guided_init(bool ignore_checks);