diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index 3c27209813..606480f4ed 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp @@ -130,13 +130,15 @@ void AC_AutoTune_Multi::do_gcs_announcements() case RP_UP: gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f d=%f", (double)tune_rp, (double)tune_rd); break; - case RFF_UP: - break; case SP_DOWN: case SP_UP: gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: p=%f accel=%f", (double)tune_sp, (double)tune_accel); break; + case RFF_UP: case MAX_GAINS: + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + break; case TUNE_COMPLETE: break; } @@ -728,6 +730,9 @@ void AC_AutoTune_Multi::set_gains_post_tune(AxisType test_axis) break; case RFF_UP: case MAX_GAINS: + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + break; case TUNE_COMPLETE: break; } @@ -1172,6 +1177,11 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign twitching_test_angle(lean_angle, rotation_rate, target_angle*(1+0.5f*aggressiveness), test_angle_min, test_angle_max, test_rate_min, test_rate_max); twitching_measure_acceleration(test_accel_max, rotation_rate - dir_sign * start_rate, rate_max); break; + case RFF_UP: + case MAX_GAINS: + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + break; default: break; } diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h index 30c3f5ef14..b7e826b80e 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h @@ -54,7 +54,10 @@ protected: void load_test_gains() override; // reset the test vaariables for heli - void reset_vehicle_test_variables() override {}; + void reset_vehicle_test_variables() override { + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + } void test_init() override; void test_run(AxisType test_axis, const float dir_sign) override; @@ -70,7 +73,10 @@ protected: void updating_rate_d_down_all(AxisType test_axis) override; // update gains for the rate ff up tune type - void updating_rate_ff_up_all(AxisType test_axis) override {}; + void updating_rate_ff_up_all(AxisType test_axis) override { + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + } // update gains for the angle P up tune type void updating_angle_p_up_all(AxisType test_axis) override; @@ -79,7 +85,10 @@ protected: void updating_angle_p_down_all(AxisType test_axis) override; // update gains for the max gain tune type - void updating_max_gains_all(AxisType test_axis) override {}; + void updating_max_gains_all(AxisType test_axis) override { + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + } // set gains post tune for the tune type void set_gains_post_tune(AxisType test_axis) override; @@ -89,7 +98,10 @@ protected: void Log_AutoTune() override; void Log_AutoTuneDetails() override; - void Log_AutoTuneSweep() override {}; + void Log_AutoTuneSweep() override { + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + } 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);