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Plane: added AUTOTUNE_AXES function to normal tune

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Co-authored-by: Peter Hall
This commit is contained in:
Henry Wurzburg 2022-11-01 08:46:52 -05:00 committed by Andrew Tridgell
parent 1547c65ff3
commit a84f6b6dee
4 changed files with 35 additions and 4 deletions
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9
ArduPlane/Parameters.cpp
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@ -1232,6 +1232,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_Follow/AP_Follow.cpp
AP_SUBGROUPINFO(follow, "FOLL", 33, ParametersG2, AP_Follow),
#endif
// @Param: AUTOTUNE_AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
AP_GROUPINFO("AUTOTUNE_AXES", 34, ParametersG2, axis_bitmask, 7),
AP_GROUPEND
};

2
ArduPlane/Parameters.h
View File

@ -562,6 +562,8 @@ public:
AP_Int8 man_expo_rudder;
AP_Int32 oneshot_mask;
AP_Int8 axis_bitmask; // axes to be autotuned
// just to make compilation easier when all things are compiled out...
uint8_t unused_integer;

6
ArduPlane/Plane.h
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@ -1195,6 +1195,12 @@ private:
ENABLED_NO_PITCH_TARGET,
ENABLED_PITCH_TARGET
};
enum class AutoTuneAxis {
ROLL = 1U <<0,
PITCH = 1U <<1,
YAW = 1U <<2,
};
FlareMode flare_mode;
bool throttle_at_zero(void) const;

22
ArduPlane/control_modes.cpp
View File

@ -160,10 +160,24 @@ void Plane::reset_control_switch()
*/
void Plane::autotune_start(void)
{
gcs().send_text(MAV_SEVERITY_INFO, "Started autotune");
rollController.autotune_start();
pitchController.autotune_start();
yawController.autotune_start();
const bool tune_roll = g2.axis_bitmask.get() & int8_t(AutoTuneAxis::ROLL);
const bool tune_pitch = g2.axis_bitmask.get() & int8_t(AutoTuneAxis::PITCH);
const bool tune_yaw = g2.axis_bitmask.get() & int8_t(AutoTuneAxis::YAW);
if (tune_roll || tune_pitch || tune_yaw) {
gcs().send_text(MAV_SEVERITY_INFO, "Started autotune");
if (tune_roll) {
rollController.autotune_start();
}
if (tune_pitch) {
pitchController.autotune_start();
}
if (tune_yaw) {
yawController.autotune_start();
}
gcs().send_text(MAV_SEVERITY_INFO, "Autotuning %s%s%s", tune_roll?"roll ":"", tune_pitch?"pitch ":"", tune_yaw?"yaw":"");
} else {
gcs().send_text(MAV_SEVERITY_INFO, "No axis selected for tuning!");
}
}
/*