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100 lines
3.3 KiB
100 lines
3.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <AP_Tuning/AP_Tuning.h> |
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/* |
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Plane transmitter tuning |
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*/ |
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class AP_Tuning_Plane : public AP_Tuning |
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{ |
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private: |
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// table of tuning sets |
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static const tuning_set tuning_sets[]; |
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// table of tuning parameter names for reporting |
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static const tuning_name tuning_names[]; |
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public: |
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// constructor |
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AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {} |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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// individual tuning parameters |
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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_RATE_ROLL_PI = 1, |
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TUNING_RATE_ROLL_P = 2, |
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TUNING_RATE_ROLL_I = 3, |
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TUNING_RATE_ROLL_D = 4, |
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TUNING_RATE_PITCH_PI = 5, |
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TUNING_RATE_PITCH_P = 6, |
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TUNING_RATE_PITCH_I = 7, |
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TUNING_RATE_PITCH_D = 8, |
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TUNING_RATE_YAW_PI = 9, |
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TUNING_RATE_YAW_P = 10, |
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TUNING_RATE_YAW_I = 11, |
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TUNING_RATE_YAW_D = 12, |
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TUNING_ANG_ROLL_P = 13, |
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TUNING_ANG_PITCH_P = 14, |
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TUNING_ANG_YAW_P = 15, |
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TUNING_PXY_P = 16, |
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TUNING_PZ_P = 17, |
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TUNING_VXY_P = 18, |
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TUNING_VXY_I = 19, |
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TUNING_VZ_P = 20, |
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TUNING_AZ_P = 21, |
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TUNING_AZ_I = 22, |
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TUNING_AZ_D = 23, |
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// fixed wing tuning |
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TUNING_FIXED_WING_BASE = 50, |
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TUNING_RLL_P = 50, |
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TUNING_RLL_I = 51, |
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TUNING_RLL_D = 52, |
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TUNING_RLL_FF = 53, |
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TUNING_PIT_P = 54, |
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TUNING_PIT_I = 55, |
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TUNING_PIT_D = 56, |
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TUNING_PIT_FF = 57, |
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}; |
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/* |
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sets of tuning values, chosen with TUNE_PARMSET over 100 |
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*/ |
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enum tuning_sets { |
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TUNING_SET_RATE_ROLL_PITCH = 1, |
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TUNING_SET_RATE_ROLL = 2, |
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TUNING_SET_RATE_PITCH = 3, |
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TUNING_SET_RATE_YAW = 4, |
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TUNING_SET_ANG_ROLL_PITCH = 5, |
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TUNING_SET_VXY = 6, |
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TUNING_SET_AZ = 7, |
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}; |
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AP_Float *get_param_pointer(uint8_t parm) override; |
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void save_value(uint8_t parm) override; |
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void reload_value(uint8_t parm) override; |
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void set_value(uint8_t parm, float value) override; |
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float controller_error(uint8_t parm) override; |
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// tuning set arrays |
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static const uint8_t tuning_set_rate_roll_pitch[]; |
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static const uint8_t tuning_set_rate_roll[]; |
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static const uint8_t tuning_set_rate_pitch[]; |
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static const uint8_t tuning_set_rate_yaw[]; |
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static const uint8_t tuning_set_ang_roll_pitch[]; |
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static const uint8_t tuning_set_vxy[]; |
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static const uint8_t tuning_set_az[]; |
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};
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