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Plane: added PID tuning for quadplane modes

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This commit is contained in:
Andrew Tridgell 2016-02-20 20:20:27 +11:00
parent e2abaefc44
commit b84b480086
3 changed files with 23 additions and 4 deletions
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15
ArduPlane/Log.cpp
View File

@ -164,10 +164,17 @@ void Plane::Log_Write_Attitude(void)
targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder. targets.z = 0; //Plane does not have the concept of navyaw. This is a placeholder.
DataFlash.Log_Write_Attitude(ahrs, targets); DataFlash.Log_Write_Attitude(ahrs, targets);
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info()); if (quadplane.in_vtol_mode()) {
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDR_MSG, quadplane.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDP_MSG, quadplane.pid_rate_pitch.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info()); DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.pid_rate_yaw.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDA_MSG, quadplane.pid_accel_z.get_pid_info() );
} else {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
}
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED

11
ArduPlane/quadplane.cpp
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@ -989,6 +989,17 @@ bool QuadPlane::in_vtol_auto(void)
} }
} }
/*
are we in a VTOL mode?
*/
bool QuadPlane::in_vtol_mode(void)
{
return (plane.control_mode == QSTABILIZE ||
plane.control_mode == QHOVER ||
plane.control_mode == QLOITER ||
in_vtol_auto());
}
/* /*
handle auto-mode when auto_state.vtol_mode is true handle auto-mode when auto_state.vtol_mode is true
*/ */

1
ArduPlane/quadplane.h
View File

@ -47,6 +47,7 @@ public:
bool verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd); bool verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd);
bool verify_vtol_land(const AP_Mission::Mission_Command &cmd); bool verify_vtol_land(const AP_Mission::Mission_Command &cmd);
bool in_vtol_auto(void); bool in_vtol_auto(void);
bool in_vtol_mode(void);
// vtol help for is_flying() // vtol help for is_flying()
bool is_flying(void); bool is_flying(void);