Plane: Add P/D only tune sets for quadplanes

ArduPlane/tuning.cpp

@@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Tuning_Plane::var_info[] = {
     // @Param: PARAM
     // @DisplayName: Transmitter tuning parameter or set of parameters
     // @Description: This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.
-    // @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,24:RatePitchFF,25:RateRollFF,26:RateYawFF,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ
+    // @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,24:RatePitchFF,25:RateRollFF,26:RateYawFF,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ,108:Set_RatePitchDP,109:Set_RateRollDP,110:Set_RateYawDP
     // @User: Standard
     AP_GROUPINFO("PARAM", 1, AP_Tuning_Plane, parmset, 0),
 
@@ -30,6 +30,9 @@ const uint8_t AP_Tuning_Plane::tuning_set_rate_yaw[] =        { TUNING_RATE_YAW_
 const uint8_t AP_Tuning_Plane::tuning_set_ang_roll_pitch[] =   { TUNING_ANG_ROLL_P, TUNING_ANG_PITCH_P };
 const uint8_t AP_Tuning_Plane::tuning_set_vxy[] =              { TUNING_VXY_P, TUNING_VXY_I };
 const uint8_t AP_Tuning_Plane::tuning_set_az[] =               { TUNING_AZ_P, TUNING_AZ_I, TUNING_AZ_D };
+const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]=      { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P };
+const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]=       { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P };
+const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]=        { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P };
 
 // macro to prevent getting the array length wrong
 #define TUNING_ARRAY(v) ARRAY_SIZE(v), v
@@ -43,6 +46,9 @@ const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
     { TUNING_SET_ANG_ROLL_PITCH,        TUNING_ARRAY(tuning_set_ang_roll_pitch) },
     { TUNING_SET_VXY,                   TUNING_ARRAY(tuning_set_vxy) },
     { TUNING_SET_AZ,                    TUNING_ARRAY(tuning_set_az) },
+    { TUNING_SET_RATE_PITCHDP,          TUNING_ARRAY(tuning_set_rate_pitchDP) },
+    { TUNING_SET_RATE_ROLLDP,           TUNING_ARRAY(tuning_set_rate_rollDP) },
+    { TUNING_SET_RATE_YAWDP,            TUNING_ARRAY(tuning_set_rate_yawDP) },
     { 0, 0, nullptr }
 };
 

ArduPlane/tuning.h

@@ -83,6 +83,9 @@ private:
         TUNING_SET_ANG_ROLL_PITCH =          5,
         TUNING_SET_VXY =                     6,
         TUNING_SET_AZ =                      7,
+        TUNING_SET_RATE_PITCHDP =            8,
+        TUNING_SET_RATE_ROLLDP =             9,
+        TUNING_SET_RATE_YAWDP =             10,
     };
 
     AP_Float *get_param_pointer(uint8_t parm) override;
@@ -98,6 +101,9 @@ private:
     static const uint8_t tuning_set_ang_roll_pitch[];
     static const uint8_t tuning_set_vxy[];
     static const uint8_t tuning_set_az[];
+    static const uint8_t tuning_set_rate_pitchDP[];
+    static const uint8_t tuning_set_rate_rollDP[];
+    static const uint8_t tuning_set_rate_yawDP[];
 
     // mask of what params have been set
     uint64_t have_set;