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AP_Scripting: VTOL-quiktune add param for RC script function

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This commit is contained in:
Joshua Henderson 2022-08-26 00:45:57 -04:00 committed by Andrew Tridgell
parent 430e52a91b
commit 82ece34981
2 changed files with 14 additions and 5 deletions
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5
libraries/AP_Scripting/applets/VTOL-quicktune.lua
View File

@ -37,7 +37,7 @@ function bind_add_param(name, idx, default_value)
end
-- setup quicktune specific parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 11), 'could not add param table')
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 12), 'could not add param table')
local QUIK_ENABLE = bind_add_param('ENABLE', 1, 0)
local QUIK_AXES = bind_add_param('AXES', 2, 7)
@ -50,6 +50,7 @@ local QUIK_RP_PI_RATIO = bind_add_param('RP_PI_RATIO', 8, 1.0)
local QUIK_Y_PI_RATIO = bind_add_param('Y_PI_RATIO', 9, 10)
local QUIK_AUTO_FILTER = bind_add_param('AUTO_FILTER', 10, 1)
local QUIK_AUTO_SAVE = bind_add_param('AUTO_SAVE', 11, 0)
local QUIK_RC_FUNC = bind_add_param('RC_FUNC', 12, 300)
local INS_GYRO_FILTER = bind_param("INS_GYRO_FILTER")
@ -354,7 +355,7 @@ end
local last_warning = get_time()
function update()
if quick_switch == nil then
quick_switch = rc:find_channel_for_option(300)
quick_switch = rc:find_channel_for_option(math.floor(QUIK_RC_FUNC:get()))
end
if quick_switch == nil or QUIK_ENABLE:get() < 1 then
return

14
libraries/AP_Scripting/applets/VTOL-quicktune.md
View File

@ -17,6 +17,11 @@ are:
this must be set to 1 to enable the script
## QUIK_RC_FUNC
The RCz_OPTIONS scripting function binding to be used for this script.
Default RCz_OPTIONS binding is 300 (scripting1).
## QUIK_AXES
This is the set of axes that the tune will run on. The default is 7,
@ -108,15 +113,18 @@ refresh parameters. Then set QUIK_ENABLE to 1.
You will then need to setup a 3 position switch on an available RC
input channel for controlling the tune (or 2 position if you set
QUIK_AUTO_SAVE). If for example channel 6 is available with a 3
position switch then you should set RC6_OPTION=300 to association the
position switch then you should set RC6_OPTION=300 (scripting1) to associate the
tuning control with that switch.
If needed, the QUIK_RC_FUNC option can be used to associate the tuning switch
with a different scripting binding such as RCz_OPTION = 302 (scripting3).
You should then takeoff and put the vehicle into QLOITER mode (for
quadplanes) or LOITER mode (for multicopters) and have it in a steady
hover in low wind.
Then move the control switch you setup with option 300 to the middle
position. This will start the tuning process. You will see text
Then move the control switch you setup with option 300 (or via QUIK_RC_FUNC)
to the middle position. This will start the tuning process. You will see text
messages on the ground station showing the progress of the tune. As
the aircraft reaches the oscillation limit of each parameter it will
start a small oscillation, then it will reduce that gain by the