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30 lines
636 B
30 lines
636 B
/* |
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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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void log_pids() override; |
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}; |
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#endif // QAUTOTUNE_ENABLED
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