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Plane: enable fixed wing autotune switch

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This commit is contained in:
Andrew Tridgell 2021-11-09 14:31:02 +11:00
parent 71faeb926c
commit de44dceda4
2 changed files with 6 additions and 0 deletions
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4
ArduPlane/RC_Channel.cpp
View File

@ -165,6 +165,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
#endif
case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
case AUX_FUNC::EMERGENCY_LANDING_EN:
case AUX_FUNC::FW_AUTOTUNE:
break;
case AUX_FUNC::SOARING:
@ -368,6 +369,9 @@ case AUX_FUNC::ARSPD_CALIBRATE:
}
break;
case AUX_FUNC::FW_AUTOTUNE:
plane.autotune_enable(ch_flag == AuxSwitchPos::HIGH);
break;
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);

2
ArduPlane/control_modes.cpp
View File

@ -161,6 +161,7 @@ void Plane::reset_control_switch()
*/
void Plane::autotune_start(void)
{
gcs().send_text(MAV_SEVERITY_INFO, "Started autotune");
rollController.autotune_start();
pitchController.autotune_start();
}
@ -172,6 +173,7 @@ void Plane::autotune_restore(void)
{
rollController.autotune_restore();
pitchController.autotune_restore();
gcs().send_text(MAV_SEVERITY_INFO, "Stopped autotune");
}
/*