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copter like autotune support for quadplanes and tailsitter in VTOL mode. cleanupmaster
Nikhil Upadhye
6 years ago
committed by
Andrew Tridgell
15 changed files with 177 additions and 19 deletions
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#include "Plane.h" |
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#include "qautotune.h" |
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#if QAUTOTUNE_ENABLED |
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/*
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initialise QAUTOTUNE mode |
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*/ |
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bool QAutoTune::init() |
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{ |
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if (!plane.quadplane.available()) { |
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return false; |
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} |
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// use position hold while tuning if we were in QLOITER
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bool position_hold = (plane.previous_mode == QLOITER); |
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return init_internals(position_hold, |
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plane.quadplane.attitude_control, |
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plane.quadplane.pos_control, |
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plane.quadplane.ahrs_view, |
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&plane.quadplane.inertial_nav); |
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} |
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float QAutoTune::get_pilot_desired_climb_rate_cms(void) const |
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{ |
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return plane.quadplane.get_pilot_desired_climb_rate_cms(); |
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} |
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void QAutoTune::get_pilot_desired_rp_yrate_cd(int32_t &des_roll_cd, int32_t &des_pitch_cd, int32_t &yaw_rate_cds) |
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{ |
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if (plane.channel_roll->get_control_in() == 0 && plane.channel_pitch->get_control_in() == 0) { |
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des_roll_cd = 0; |
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des_pitch_cd = 0; |
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} else { |
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des_roll_cd = plane.nav_roll_cd; |
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des_pitch_cd = plane.nav_pitch_cd; |
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} |
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yaw_rate_cds = plane.quadplane.get_desired_yaw_rate_cds(); |
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} |
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void QAutoTune::init_z_limits() |
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{ |
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plane.quadplane.pos_control->set_max_speed_z(-plane.quadplane.pilot_velocity_z_max, plane.quadplane.pilot_velocity_z_max); |
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plane.quadplane.pos_control->set_max_accel_z(plane.quadplane.pilot_accel_z); |
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} |
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// Wrote an event packet
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void QAutoTune::Log_Write_Event(enum at_event id) |
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{ |
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// offset of 30 aligned with ArduCopter autotune events
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uint8_t ev_id = 30 + (uint8_t)id; |
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DataFlash_Class::instance()->Log_Write( |
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"EVT", |
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"TimeUS,Id", |
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"s-", |
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"F-", |
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"QB", |
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AP_HAL::micros64(), |
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ev_id); |
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} |
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#endif // QAUTOTUNE_ENABLED
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/*
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support for autotune of quadplanes |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#define QAUTOTUNE_ENABLED !HAL_MINIMIZE_FEATURES |
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#if QAUTOTUNE_ENABLED |
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#include <AC_AutoTune/AC_AutoTune.h> |
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class QAutoTune : public AC_AutoTune |
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{ |
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public: |
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friend class QuadPlane; |
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bool init() override; |
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protected: |
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float get_pilot_desired_climb_rate_cms(void) const override; |
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void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override; |
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void init_z_limits() override; |
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void Log_Write_Event(enum at_event id) override; |
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}; |
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#endif // QAUTOTUNE_ENABLED
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