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85 lines
2.7 KiB
85 lines
2.7 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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private: |
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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_KPI = 1, |
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TUNING_Q_RATE_ROLL_KP = 2, |
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TUNING_Q_RATE_ROLL_KI = 3, |
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TUNING_Q_RATE_ROLL_KD = 4, |
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TUNING_Q_RATE_PITCH_KPI = 5, |
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TUNING_Q_RATE_PITCH_KP = 6, |
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TUNING_Q_RATE_PITCH_KI = 7, |
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TUNING_Q_RATE_PITCH_KD = 8, |
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TUNING_Q_RATE_YAW_KPI = 9, |
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TUNING_Q_RATE_YAW_KP = 10, |
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TUNING_Q_RATE_YAW_KI = 11, |
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TUNING_Q_RATE_YAW_KD = 12, |
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TUNING_Q_ANG_ROLL_KP = 13, |
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TUNING_Q_ANG_PITCH_KP = 14, |
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TUNING_Q_ANG_YAW_KP = 15, |
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TUNING_Q_PXY_P = 16, |
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TUNING_Q_PZ_P = 17, |
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TUNING_Q_VXY_P = 18, |
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TUNING_Q_VXY_I = 19, |
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TUNING_Q_VZ_P = 20, |
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TUNING_Q_AZ_P = 21, |
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TUNING_Q_AZ_I = 22, |
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TUNING_Q_AZ_D = 23, |
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// fixed wing tuning |
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TUNING_RLL_P = 24, |
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TUNING_RLL_I = 25, |
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TUNING_RLL_D = 26, |
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TUNING_RLL_FF = 27, |
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TUNING_PIT_P = 28, |
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TUNING_PIT_I = 29, |
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TUNING_PIT_D = 30, |
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TUNING_PIT_FF = 31, |
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}; |
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enum tuning_sets { |
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TUNING_SET_NONE = 0, |
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TUNING_SET_Q_RATE_ROLL_PITCH = 1, |
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TUNING_SET_Q_RATE_ROLL = 2, |
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TUNING_SET_Q_RATE_PITCH = 3, |
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}; |
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AP_Float *get_param_pointer(uint8_t parm); |
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void save_value(uint8_t parm); |
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void reload_value(uint8_t parm); |
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void set_value(uint8_t parm, float value); |
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// tuning set arrays |
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static const uint8_t tuning_set_q_rate_roll_pitch[]; |
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static const uint8_t tuning_set_q_rate_roll[]; |
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static const uint8_t tuning_set_q_rate_pitch[]; |
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};
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