Andrew Tridgell
9 years ago
8 changed files with 200 additions and 241 deletions
@ -1,88 +1,85 @@
@@ -1,88 +1,85 @@
|
||||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#include <AP_Tuning/AP_Tuning.h> |
||||
|
||||
/*
|
||||
Plane transmitter tuning |
||||
*/ |
||||
class Tuning |
||||
class AP_Tuning_Plane : public AP_Tuning |
||||
{ |
||||
public: |
||||
friend class Plane; |
||||
private: |
||||
// table of tuning sets
|
||||
static const tuning_set tuning_sets[]; |
||||
|
||||
Tuning(void); |
||||
// table of tuning parameter names for reporting
|
||||
static const tuning_name tuning_names[]; |
||||
|
||||
// var_info for holding Parameter information
|
||||
static const struct AP_Param::GroupInfo var_info[]; |
||||
|
||||
void check_input(void); |
||||
public: |
||||
// constructor
|
||||
AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {} |
||||
|
||||
private: |
||||
AP_Int8 channel; |
||||
AP_Int8 parm; |
||||
AP_Float minimum; |
||||
AP_Float maximum; |
||||
|
||||
uint8_t last_input_pct = 255; |
||||
uint32_t last_check_ms; |
||||
|
||||
struct PACKED log_ParameterTuning { |
||||
LOG_PACKET_HEADER; |
||||
uint64_t time_us; |
||||
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
|
||||
float tuning_value; // normalized value used inside tuning() function
|
||||
float tuning_low; // tuning low end value
|
||||
float tuning_high; // tuning high end value
|
||||
}; |
||||
|
||||
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high); |
||||
|
||||
enum tuning_func { |
||||
TUNING_NONE = 0, |
||||
|
||||
// quadplane tuning
|
||||
TUNING_Q_RATE_ROLL_PITCH_KPI = 1, |
||||
TUNING_Q_RATE_ROLL_PITCH_KP = 2, |
||||
TUNING_Q_RATE_ROLL_PITCH_KI = 3, |
||||
TUNING_Q_RATE_ROLL_PITCH_KD = 4, |
||||
TUNING_Q_RATE_ROLL_KPI = 1, |
||||
TUNING_Q_RATE_ROLL_KP = 2, |
||||
TUNING_Q_RATE_ROLL_KI = 3, |
||||
TUNING_Q_RATE_ROLL_KD = 4, |
||||
|
||||
TUNING_Q_RATE_ROLL_KPI = 5, |
||||
TUNING_Q_RATE_ROLL_KP = 6, |
||||
TUNING_Q_RATE_ROLL_KI = 7, |
||||
TUNING_Q_RATE_ROLL_KD = 8, |
||||
TUNING_Q_RATE_PITCH_KPI = 5, |
||||
TUNING_Q_RATE_PITCH_KP = 6, |
||||
TUNING_Q_RATE_PITCH_KI = 7, |
||||
TUNING_Q_RATE_PITCH_KD = 8, |
||||
|
||||
TUNING_Q_RATE_PITCH_KPI = 9, |
||||
TUNING_Q_RATE_PITCH_KP = 10, |
||||
TUNING_Q_RATE_PITCH_KI = 11, |
||||
TUNING_Q_RATE_PITCH_KD = 12, |
||||
TUNING_Q_RATE_YAW_KPI = 9, |
||||
TUNING_Q_RATE_YAW_KP = 10, |
||||
TUNING_Q_RATE_YAW_KI = 11, |
||||
TUNING_Q_RATE_YAW_KD = 12, |
||||
|
||||
TUNING_Q_RATE_YAW_KPI = 13, |
||||
TUNING_Q_RATE_YAW_KP = 14, |
||||
TUNING_Q_RATE_YAW_KI = 15, |
||||
TUNING_Q_RATE_YAW_KD = 16, |
||||
TUNING_Q_ANG_ROLL_KP = 13, |
||||
TUNING_Q_ANG_PITCH_KP = 14, |
||||
TUNING_Q_ANG_YAW_KP = 15, |
||||
|
||||
TUNING_Q_ANG_ROLL_KP = 17, |
||||
TUNING_Q_ANG_PITCH_KP = 18, |
||||
TUNING_Q_ANG_YAW_KP = 19, |
||||
TUNING_Q_PXY_P = 16, |
||||
TUNING_Q_PZ_P = 17, |
||||
|
||||
TUNING_Q_PXY_P = 20, |
||||
TUNING_Q_PZ_P = 21, |
||||
TUNING_Q_VXY_P = 18, |
||||
TUNING_Q_VXY_I = 19, |
||||
TUNING_Q_VZ_P = 20, |
||||
|
||||
TUNING_Q_VXY_P = 22, |
||||
TUNING_Q_VXY_I = 23, |
||||
TUNING_Q_VZ_P = 24, |
||||
|
||||
TUNING_Q_AZ_P = 25, |
||||
TUNING_Q_AZ_I = 26, |
||||
TUNING_Q_AZ_D = 27, |
||||
TUNING_Q_AZ_P = 21, |
||||
TUNING_Q_AZ_I = 22, |
||||
TUNING_Q_AZ_D = 23, |
||||
|
||||
// fixed wing tuning
|
||||
TUNING_RLL_P = 28, |
||||
TUNING_RLL_I = 29, |
||||
TUNING_RLL_D = 30, |
||||
TUNING_RLL_FF = 31, |
||||
TUNING_RLL_P = 24, |
||||
TUNING_RLL_I = 25, |
||||
TUNING_RLL_D = 26, |
||||
TUNING_RLL_FF = 27, |
||||
|
||||
TUNING_PIT_P = 28, |
||||
TUNING_PIT_I = 29, |
||||
TUNING_PIT_D = 30, |
||||
TUNING_PIT_FF = 31, |
||||
}; |
||||
|
||||
enum tuning_sets { |
||||
TUNING_SET_NONE = 0, |
||||
|
||||
TUNING_PIT_P = 32, |
||||
TUNING_PIT_I = 33, |
||||
TUNING_PIT_D = 34, |
||||
TUNING_PIT_FF = 35, |
||||
TUNING_SET_Q_RATE_ROLL_PITCH = 1, |
||||
TUNING_SET_Q_RATE_ROLL = 2, |
||||
TUNING_SET_Q_RATE_PITCH = 3, |
||||
}; |
||||
|
||||
AP_Float *get_param_pointer(uint8_t parm); |
||||
void save_value(uint8_t parm); |
||||
void reload_value(uint8_t parm); |
||||
void set_value(uint8_t parm, float value); |
||||
|
||||
// tuning set arrays
|
||||
static const uint8_t tuning_set_q_rate_roll_pitch[]; |
||||
static const uint8_t tuning_set_q_rate_roll[]; |
||||
static const uint8_t tuning_set_q_rate_pitch[]; |
||||
}; |
||||
|
||||
Loading…
Reference in new issue