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88 lines
2.8 KiB
88 lines
2.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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Plane transmitter tuning |
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*/ |
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class Tuning |
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{ |
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public: |
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friend class Plane; |
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Tuning(void); |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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void check_input(void); |
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private: |
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AP_Int8 channel; |
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AP_Int8 parm; |
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AP_Float minimum; |
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AP_Float maximum; |
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uint8_t last_input_pct = 255; |
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uint32_t last_check_ms; |
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struct PACKED log_ParameterTuning { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE |
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float tuning_value; // normalized value used inside tuning() function |
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float tuning_low; // tuning low end value |
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float tuning_high; // tuning high end value |
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}; |
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void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high); |
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enum tuning_func { |
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TUNING_NONE = 0, |
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// quadplane tuning |
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TUNING_Q_RATE_ROLL_PITCH_KPI = 1, |
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TUNING_Q_RATE_ROLL_PITCH_KP = 2, |
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TUNING_Q_RATE_ROLL_PITCH_KI = 3, |
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TUNING_Q_RATE_ROLL_PITCH_KD = 4, |
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TUNING_Q_RATE_ROLL_KPI = 5, |
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TUNING_Q_RATE_ROLL_KP = 6, |
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TUNING_Q_RATE_ROLL_KI = 7, |
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TUNING_Q_RATE_ROLL_KD = 8, |
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TUNING_Q_RATE_PITCH_KPI = 9, |
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TUNING_Q_RATE_PITCH_KP = 10, |
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TUNING_Q_RATE_PITCH_KI = 11, |
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TUNING_Q_RATE_PITCH_KD = 12, |
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TUNING_Q_RATE_YAW_KPI = 13, |
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TUNING_Q_RATE_YAW_KP = 14, |
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TUNING_Q_RATE_YAW_KI = 15, |
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TUNING_Q_RATE_YAW_KD = 16, |
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TUNING_Q_ANG_ROLL_KP = 17, |
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TUNING_Q_ANG_PITCH_KP = 18, |
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TUNING_Q_ANG_YAW_KP = 19, |
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TUNING_Q_PXY_P = 20, |
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TUNING_Q_PZ_P = 21, |
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TUNING_Q_VXY_P = 22, |
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TUNING_Q_VXY_I = 23, |
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TUNING_Q_VZ_P = 24, |
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TUNING_Q_AZ_P = 25, |
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TUNING_Q_AZ_I = 26, |
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TUNING_Q_AZ_D = 27, |
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// fixed wing tuning |
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TUNING_RLL_P = 28, |
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TUNING_RLL_I = 29, |
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TUNING_RLL_D = 30, |
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TUNING_RLL_FF = 31, |
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TUNING_PIT_P = 32, |
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TUNING_PIT_I = 33, |
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TUNING_PIT_D = 34, |
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TUNING_PIT_FF = 35, |
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}; |
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};
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