Copter::ModeAutoTune Class Reference

Inheritance diagram for Copter::ModeAutoTune:

Collaboration diagram for Copter::ModeAutoTune:

Public Member Functions
bool	init (bool ignore_checks) override
void	run () override
bool	requires_GPS () const override
bool	has_manual_throttle () const override
bool	allows_arming (bool from_gcs) const override
bool	is_autopilot () const override
void	save_tuning_gains ()
void	stop ()

Protected Member Functions
const char *	name () const override
const char *	name4 () const override
Protected Member Functions inherited from Copter::Mode
virtual bool	landing_gear_should_be_deployed () const
void	update_navigation ()
virtual void	run_autopilot ()
virtual uint32_t	wp_distance () const
virtual int32_t	wp_bearing () const
virtual bool	get_wp (Location_Class &loc)
virtual bool	in_guided_mode () const
void	get_pilot_desired_lean_angles (float &roll_out, float &pitch_out, float angle_max, float angle_limit) const
bool	takeoff_triggered (float target_climb_rate) const
void	zero_throttle_and_relax_ac ()
int32_t	get_alt_above_ground (void)
void	land_run_horizontal_control ()
void	land_run_vertical_control (bool pause_descent=false)
float	get_surface_tracking_climb_rate (int16_t target_rate, float current_alt_target, float dt)
float	get_pilot_desired_yaw_rate (int16_t stick_angle)
float	get_pilot_desired_climb_rate (float throttle_control)
float	get_pilot_desired_throttle (int16_t throttle_control, float thr_mid=0.0f)
float	get_non_takeoff_throttle (void)
void	update_simple_mode (void)
bool	set_mode (control_mode_t mode, mode_reason_t reason)
void	set_land_complete (bool b)
GCS_Copter &	gcs ()
void	Log_Write_Event (uint8_t id)
void	set_throttle_takeoff (void)
void	takeoff_timer_start (float alt_cm)
void	takeoff_stop (void)
void	takeoff_get_climb_rates (float &pilot_climb_rate, float &takeoff_climb_rate)
float	get_avoidance_adjusted_climbrate (float target_rate)
uint16_t	get_pilot_speed_dn (void)

Private Types
enum	LEVEL_ISSUE {   LEVEL_ISSUE_NONE, LEVEL_ISSUE_ANGLE_ROLL, LEVEL_ISSUE_ANGLE_PITCH, LEVEL_ISSUE_ANGLE_YAW,   LEVEL_ISSUE_RATE_ROLL, LEVEL_ISSUE_RATE_PITCH, LEVEL_ISSUE_RATE_YAW }
enum	TuneMode { UNINITIALISED = 0, TUNING = 1, SUCCESS = 2, FAILED = 3 }
enum	StepType { WAITING_FOR_LEVEL = 0, TWITCHING = 1, UPDATE_GAINS = 2 }
enum	AxisType { ROLL = 0, PITCH = 1, YAW = 2 }
enum	TuneType {   RD_UP = 0, RD_DOWN = 1, RP_UP = 2, SP_DOWN = 3,   SP_UP = 4 }

Private Member Functions
bool	start (bool ignore_checks)
void	autotune_attitude_control ()
void	backup_gains_and_initialise ()
void	load_orig_gains ()
void	load_tuned_gains ()
void	load_intra_test_gains ()
void	load_twitch_gains ()
void	update_gcs (uint8_t message_id)
bool	roll_enabled ()
bool	pitch_enabled ()
bool	yaw_enabled ()
void	twitching_test_rate (float rate, float rate_target, float &meas_rate_min, float &meas_rate_max)
void	twitching_test_angle (float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max)
void	twitching_measure_acceleration (float &rate_of_change, float rate_measurement, float &rate_measurement_max)
void	updating_rate_d_up (float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max)
void	updating_rate_d_down (float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max)
void	updating_rate_p_up_d_down (float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float rate_target, float meas_rate_min, float meas_rate_max)
void	updating_angle_p_down (float &tune_p, float tune_p_min, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max)
void	updating_angle_p_up (float &tune_p, float tune_p_max, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max)
void	get_poshold_attitude (float &roll_cd, float &pitch_cd, float &yaw_cd)
void	Log_Write_AutoTune (uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt)
void	Log_Write_AutoTuneDetails (float angle_cd, float rate_cds)
void	send_step_string ()
const char *	level_issue_string () const
const char *	type_string () const
void	announce_state_to_gcs ()
void	do_gcs_announcements ()
bool	check_level (const enum LEVEL_ISSUE issue, const float current, const float maximum)
bool	currently_level ()

Private Attributes
TuneMode	mode: 2
bool	pilot_override: 1
AxisType	axis: 2
bool	positive_direction: 1
StepType	step: 2
TuneType	tune_type: 3
bool	ignore_next: 1
bool	twitch_first_iter: 1
bool	use_poshold: 1
bool	have_position: 1
Vector3f	start_position
uint32_t	override_time
float	test_rate_min
float	test_rate_max
float	test_angle_min
float	test_angle_max
uint32_t	step_start_time
uint32_t	step_stop_time
int8_t	counter
float	target_rate
float	start_rate
float	target_angle
float	start_angle
float	desired_yaw
float	rate_max
float	test_accel_max
LowPassFilterFloat	rotation_rate_filt
float	orig_roll_rp = 0
float	orig_roll_ri
float	orig_roll_rd
float	orig_roll_sp
float	orig_roll_accel
float	orig_pitch_rp = 0
float	orig_pitch_ri
float	orig_pitch_rd
float	orig_pitch_sp
float	orig_pitch_accel
float	orig_yaw_rp = 0
float	orig_yaw_ri
float	orig_yaw_rd
float	orig_yaw_rLPF
float	orig_yaw_sp
float	orig_yaw_accel
bool	orig_bf_feedforward
float	tune_roll_rp
float	tune_roll_rd
float	tune_roll_sp
float	tune_roll_accel
float	tune_pitch_rp
float	tune_pitch_rd
float	tune_pitch_sp
float	tune_pitch_accel
float	tune_yaw_rp
float	tune_yaw_rLPF
float	tune_yaw_sp
float	tune_yaw_accel
uint32_t	announce_time
float	lean_angle
float	rotation_rate
float	roll_cd
float	pitch_cd
struct {
LEVEL_ISSUE   issue {LEVEL_ISSUE_NONE}
float   maximum
float   current
}	level_problem

Additional Inherited Members
Static Public Attributes inherited from Copter::Mode
static AutoYaw	auto_yaw
Protected Attributes inherited from Copter::Mode
Parameters &	g
ParametersG2 &	g2
AC_WPNav *&	wp_nav
AC_Loiter *&	loiter_nav
AC_PosControl *&	pos_control
AP_InertialNav &	inertial_nav
AP_AHRS &	ahrs
AC_AttitudeControl_t *&	attitude_control
MOTOR_CLASS *&	motors
RC_Channel *&	channel_roll
RC_Channel *&	channel_pitch
RC_Channel *&	channel_throttle
RC_Channel *&	channel_yaw
float &	G_Dt
ap_t &	ap
takeoff_state_t &	takeoff_state
float &	ekfGndSpdLimit
float &	ekfNavVelGainScaler

Detailed Description

Definition at line 393 of file Copter.h.

Member Enumeration Documentation

AxisType

enum Copter::ModeAutoTune::AxisType

private

Enumerator
ROLL
PITCH
YAW

Definition at line 479 of file Copter.h.

LEVEL_ISSUE

enum Copter::ModeAutoTune::LEVEL_ISSUE

private

Enumerator
LEVEL_ISSUE_NONE
LEVEL_ISSUE_ANGLE_ROLL
LEVEL_ISSUE_ANGLE_PITCH
LEVEL_ISSUE_ANGLE_YAW
LEVEL_ISSUE_RATE_ROLL
LEVEL_ISSUE_RATE_PITCH
LEVEL_ISSUE_RATE_YAW

Definition at line 451 of file Copter.h.

StepType

enum Copter::ModeAutoTune::StepType

private

Enumerator
WAITING_FOR_LEVEL
TWITCHING
UPDATE_GAINS

Definition at line 472 of file Copter.h.

TuneMode

enum Copter::ModeAutoTune::TuneMode

private

Enumerator
UNINITIALISED
TUNING
SUCCESS
FAILED

Definition at line 464 of file Copter.h.

TuneType

enum Copter::ModeAutoTune::TuneType

private

Enumerator
RD_UP
RD_DOWN
RP_UP
SP_DOWN
SP_UP

Definition at line 486 of file Copter.h.

Member Function Documentation

allows_arming()

bool Copter::ModeAutoTune::allows_arming ( bool  from_gcs ) const

inlineoverridevirtual

Implements Copter::Mode.

Definition at line 404 of file Copter.h.

announce_state_to_gcs()

void Copter::ModeAutoTune::announce_state_to_gcs ( )

private

autotune_attitude_control()

void Copter::ModeAutoTune::autotune_attitude_control ( )

private

Definition at line 468 of file mode_autotune.cpp.

Referenced by run().

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backup_gains_and_initialise()

void Copter::ModeAutoTune::backup_gains_and_initialise ( )

private

Definition at line 878 of file mode_autotune.cpp.

Referenced by init().

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check_level()

bool Copter::ModeAutoTune::check_level ( const enum LEVEL_ISSUE  issue, const float  current, const float  maximum  )

private

Definition at line 420 of file mode_autotune.cpp.

Referenced by currently_level().

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currently_level()

bool Copter::ModeAutoTune::currently_level ( )

private

Definition at line 431 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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do_gcs_announcements()

void Copter::ModeAutoTune::do_gcs_announcements ( )

private

Definition at line 254 of file mode_autotune.cpp.

Referenced by run().

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get_poshold_attitude()

void Copter::ModeAutoTune::get_poshold_attitude ( float &  roll_cd, float &  pitch_cd, float &  yaw_cd  )

private

Definition at line 1508 of file mode_autotune.cpp.

Referenced by autotune_attitude_control(), and run().

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has_manual_throttle()

bool Copter::ModeAutoTune::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Definition at line 403 of file Copter.h.

init()

bool Copter::ModeAutoTune::init ( bool  ignore_checks )

overridevirtual

Implements Copter::Mode.

Definition at line 96 of file mode_autotune.cpp.

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is_autopilot()

bool Copter::ModeAutoTune::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Copter::Mode.

Definition at line 405 of file Copter.h.

level_issue_string()

const char * Copter::ModeAutoTune::level_issue_string ( ) const

private

Definition at line 196 of file mode_autotune.cpp.

Referenced by send_step_string().

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load_intra_test_gains()

void Copter::ModeAutoTune::load_intra_test_gains ( )

private

Definition at line 1009 of file mode_autotune.cpp.

Referenced by autotune_attitude_control(), and init().

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load_orig_gains()

void Copter::ModeAutoTune::load_orig_gains ( )

private

Definition at line 936 of file mode_autotune.cpp.

Referenced by run(), and stop().

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load_tuned_gains()

void Copter::ModeAutoTune::load_tuned_gains ( )

private

Definition at line 970 of file mode_autotune.cpp.

Referenced by init().

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load_twitch_gains()

void Copter::ModeAutoTune::load_twitch_gains ( )

private

Definition at line 1037 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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Log_Write_AutoTune()

void Copter::ModeAutoTune::Log_Write_AutoTune ( uint8_t  axis, uint8_t  tune_step, float  meas_target, float  meas_min, float  meas_max, float  new_gain_rp, float  new_gain_rd, float  new_gain_sp, float  new_ddt  )

private

Definition at line 24 of file Log.cpp.

Referenced by autotune_attitude_control().

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Log_Write_AutoTuneDetails()

void Copter::ModeAutoTune::Log_Write_AutoTuneDetails ( float  angle_cd, float  rate_cds  )

private

Definition at line 50 of file Log.cpp.

Referenced by autotune_attitude_control().

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name()

const char* Copter::ModeAutoTune::name ( ) const

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Definition at line 413 of file Copter.h.

name4()

const char* Copter::ModeAutoTune::name4 ( ) const

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Definition at line 414 of file Copter.h.

pitch_enabled()

bool Copter::ModeAutoTune::pitch_enabled ( )

inlineprivate

Definition at line 1178 of file mode_autotune.cpp.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), load_tuned_gains(), and save_tuning_gains().

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requires_GPS()

bool Copter::ModeAutoTune::requires_GPS ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Definition at line 402 of file Copter.h.

roll_enabled()

bool Copter::ModeAutoTune::roll_enabled ( )

inlineprivate

Definition at line 1174 of file mode_autotune.cpp.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), load_tuned_gains(), and save_tuning_gains().

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run()

void Copter::ModeAutoTune::run ( void  )

overridevirtual

Implements Copter::Mode.

Definition at line 315 of file mode_autotune.cpp.

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save_tuning_gains()

void Copter::ModeAutoTune::save_tuning_gains

(

)

Definition at line 1064 of file mode_autotune.cpp.

Referenced by Copter::init_disarm_motors().

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send_step_string()

void Copter::ModeAutoTune::send_step_string ( )

private

Definition at line 217 of file mode_autotune.cpp.

Referenced by do_gcs_announcements().

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start()

bool Copter::ModeAutoTune::start ( bool  ignore_checks )

private

Definition at line 165 of file mode_autotune.cpp.

Referenced by init().

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stop()

void Copter::ModeAutoTune::stop

(

void

)

Definition at line 148 of file mode_autotune.cpp.

Referenced by Copter::exit_mode().

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twitching_measure_acceleration()

void Copter::ModeAutoTune::twitching_measure_acceleration ( float &  rate_of_change, float  rate_measurement, float &  rate_measurement_max  )

private

Definition at line 1280 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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twitching_test_angle()

void Copter::ModeAutoTune::twitching_test_angle ( float  angle, float  rate, float  angle_target, float &  meas_angle_min, float &  meas_angle_max, float &  meas_rate_min, float &  meas_rate_max  )

private

Definition at line 1228 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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twitching_test_rate()

void Copter::ModeAutoTune::twitching_test_rate ( float  rate, float  rate_target, float &  meas_rate_min, float &  meas_rate_max  )

private

Definition at line 1188 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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type_string()

const char * Copter::ModeAutoTune::type_string ( ) const

private

Definition at line 237 of file mode_autotune.cpp.

Referenced by do_gcs_announcements().

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update_gcs()

void Copter::ModeAutoTune::update_gcs ( uint8_t  message_id )

private

Definition at line 1152 of file mode_autotune.cpp.

Referenced by autotune_attitude_control(), init(), save_tuning_gains(), and stop().

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updating_angle_p_down()

void Copter::ModeAutoTune::updating_angle_p_down ( float &  tune_p, float  tune_p_min, float  tune_p_step_ratio, float  angle_target, float  meas_angle_max, float  meas_rate_min, float  meas_rate_max  )

private

Definition at line 1450 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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updating_angle_p_up()

void Copter::ModeAutoTune::updating_angle_p_up ( float &  tune_p, float  tune_p_max, float  tune_p_step_ratio, float  angle_target, float  meas_angle_max, float  meas_rate_min, float  meas_rate_max  )

private

Definition at line 1479 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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updating_rate_d_down()

void Copter::ModeAutoTune::updating_rate_d_down ( float &  tune_d, float  tune_d_min, float  tune_d_step_ratio, float &  tune_p, float  tune_p_min, float  tune_p_max, float  tune_p_step_ratio, float  rate_target, float  meas_rate_min, float  meas_rate_max  )

private

Definition at line 1345 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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updating_rate_d_up()

void Copter::ModeAutoTune::updating_rate_d_up ( float &  tune_d, float  tune_d_min, float  tune_d_max, float  tune_d_step_ratio, float &  tune_p, float  tune_p_min, float  tune_p_max, float  tune_p_step_ratio, float  rate_target, float  meas_rate_min, float  meas_rate_max  )

private

Definition at line 1290 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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updating_rate_p_up_d_down()

void Copter::ModeAutoTune::updating_rate_p_up_d_down ( float &  tune_d, float  tune_d_min, float  tune_d_step_ratio, float &  tune_p, float  tune_p_min, float  tune_p_max, float  tune_p_step_ratio, float  rate_target, float  meas_rate_min, float  meas_rate_max  )

private

Definition at line 1400 of file mode_autotune.cpp.

Referenced by autotune_attitude_control().

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yaw_enabled()

bool Copter::ModeAutoTune::yaw_enabled ( )

inlineprivate

Definition at line 1182 of file mode_autotune.cpp.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), load_tuned_gains(), and save_tuning_gains().

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Member Data Documentation

announce_time

uint32_t Copter::ModeAutoTune::announce_time

private

Definition at line 533 of file Copter.h.

Referenced by do_gcs_announcements().

axis

AxisType Copter::ModeAutoTune::axis

private

Definition at line 496 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), get_poshold_attitude(), and load_twitch_gains().

counter

int8_t Copter::ModeAutoTune::counter

private

Definition at line 514 of file Copter.h.

Referenced by autotune_attitude_control(), do_gcs_announcements(), updating_angle_p_down(), updating_angle_p_up(), updating_rate_d_down(), updating_rate_d_up(), and updating_rate_p_up_d_down().

current

float Copter::ModeAutoTune::current

Definition at line 541 of file Copter.h.

Referenced by check_level().

desired_yaw

float Copter::ModeAutoTune::desired_yaw

private

Definition at line 517 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), currently_level(), and run().

have_position

bool Copter::ModeAutoTune::have_position

private

Definition at line 503 of file Copter.h.

Referenced by get_poshold_attitude(), init(), and run().

ignore_next

bool Copter::ModeAutoTune::ignore_next

private

Definition at line 500 of file Copter.h.

Referenced by updating_angle_p_down(), updating_angle_p_up(), updating_rate_d_down(), updating_rate_d_up(), and updating_rate_p_up_d_down().

issue

LEVEL_ISSUE Copter::ModeAutoTune::issue {LEVEL_ISSUE_NONE}

Definition at line 539 of file Copter.h.

Referenced by check_level().

lean_angle

float Copter::ModeAutoTune::lean_angle

private

Definition at line 534 of file Copter.h.

Referenced by autotune_attitude_control(), and do_gcs_announcements().

level_problem

struct { ... } Copter::ModeAutoTune::level_problem

Referenced by check_level(), level_issue_string(), and send_step_string().

maximum

float Copter::ModeAutoTune::maximum

Definition at line 540 of file Copter.h.

Referenced by check_level().

mode

TuneMode Copter::ModeAutoTune::mode

private

Definition at line 494 of file Copter.h.

Referenced by autotune_attitude_control(), init(), run(), and save_tuning_gains().

orig_bf_feedforward

bool Copter::ModeAutoTune::orig_bf_feedforward

private

Definition at line 526 of file Copter.h.

Referenced by backup_gains_and_initialise(), and load_orig_gains().

orig_pitch_accel

float Copter::ModeAutoTune::orig_pitch_accel

private

Definition at line 524 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_pitch_rd

float Copter::ModeAutoTune::orig_pitch_rd

private

Definition at line 524 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_pitch_ri

float Copter::ModeAutoTune::orig_pitch_ri

private

Definition at line 524 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_pitch_rp

float Copter::ModeAutoTune::orig_pitch_rp = 0

private

Definition at line 524 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_pitch_sp

float Copter::ModeAutoTune::orig_pitch_sp

private

Definition at line 524 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_roll_accel

float Copter::ModeAutoTune::orig_roll_accel

private

Definition at line 523 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_roll_rd

float Copter::ModeAutoTune::orig_roll_rd

private

Definition at line 523 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_roll_ri

float Copter::ModeAutoTune::orig_roll_ri

private

Definition at line 523 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_roll_rp

float Copter::ModeAutoTune::orig_roll_rp = 0

private

Definition at line 523 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_roll_sp

float Copter::ModeAutoTune::orig_roll_sp

private

Definition at line 523 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_yaw_accel

float Copter::ModeAutoTune::orig_yaw_accel

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_yaw_rd

float Copter::ModeAutoTune::orig_yaw_rd

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_yaw_ri

float Copter::ModeAutoTune::orig_yaw_ri

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_orig_gains(), and save_tuning_gains().

orig_yaw_rLPF

float Copter::ModeAutoTune::orig_yaw_rLPF

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_yaw_rp

float Copter::ModeAutoTune::orig_yaw_rp = 0

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

orig_yaw_sp

float Copter::ModeAutoTune::orig_yaw_sp

private

Definition at line 525 of file Copter.h.

Referenced by backup_gains_and_initialise(), load_intra_test_gains(), load_orig_gains(), and save_tuning_gains().

override_time

uint32_t Copter::ModeAutoTune::override_time

private

Definition at line 507 of file Copter.h.

Referenced by run().

pilot_override

bool Copter::ModeAutoTune::pilot_override

private

Definition at line 495 of file Copter.h.

Referenced by run(), and send_step_string().

pitch_cd

float Copter::ModeAutoTune::pitch_cd

private

Definition at line 536 of file Copter.h.

Referenced by autotune_attitude_control(), and currently_level().

positive_direction

bool Copter::ModeAutoTune::positive_direction

private

Definition at line 497 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), and updating_rate_p_up_d_down().

rate_max

float Copter::ModeAutoTune::rate_max

private

Definition at line 518 of file Copter.h.

Referenced by autotune_attitude_control().

roll_cd

float Copter::ModeAutoTune::roll_cd

private

Definition at line 536 of file Copter.h.

Referenced by autotune_attitude_control(), and currently_level().

rotation_rate

float Copter::ModeAutoTune::rotation_rate

private

Definition at line 535 of file Copter.h.

Referenced by autotune_attitude_control(), and do_gcs_announcements().

rotation_rate_filt

LowPassFilterFloat Copter::ModeAutoTune::rotation_rate_filt

private

Definition at line 520 of file Copter.h.

Referenced by autotune_attitude_control().

start_angle

float Copter::ModeAutoTune::start_angle

private

Definition at line 516 of file Copter.h.

Referenced by autotune_attitude_control().

start_position

Vector3f Copter::ModeAutoTune::start_position

private

Definition at line 504 of file Copter.h.

Referenced by get_poshold_attitude().

start_rate

float Copter::ModeAutoTune::start_rate

private

Definition at line 515 of file Copter.h.

Referenced by autotune_attitude_control().

step

StepType Copter::ModeAutoTune::step

private

Definition at line 498 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), run(), send_step_string(), twitching_test_angle(), and twitching_test_rate().

step_start_time

uint32_t Copter::ModeAutoTune::step_start_time

private

Definition at line 512 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), twitching_measure_acceleration(), twitching_test_angle(), and twitching_test_rate().

step_stop_time

uint32_t Copter::ModeAutoTune::step_stop_time

private

Definition at line 513 of file Copter.h.

Referenced by autotune_attitude_control(), twitching_test_angle(), and twitching_test_rate().

target_angle

float Copter::ModeAutoTune::target_angle

private

Definition at line 516 of file Copter.h.

Referenced by autotune_attitude_control(), and do_gcs_announcements().

target_rate

float Copter::ModeAutoTune::target_rate

private

Definition at line 515 of file Copter.h.

Referenced by autotune_attitude_control(), and do_gcs_announcements().

test_accel_max

float Copter::ModeAutoTune::test_accel_max

private

Definition at line 518 of file Copter.h.

Referenced by autotune_attitude_control().

test_angle_max

float Copter::ModeAutoTune::test_angle_max

private

Definition at line 511 of file Copter.h.

Referenced by autotune_attitude_control().

test_angle_min

float Copter::ModeAutoTune::test_angle_min

private

Definition at line 510 of file Copter.h.

Referenced by autotune_attitude_control().

test_rate_max

float Copter::ModeAutoTune::test_rate_max

private

Definition at line 509 of file Copter.h.

Referenced by autotune_attitude_control().

test_rate_min

float Copter::ModeAutoTune::test_rate_min

private

Definition at line 508 of file Copter.h.

Referenced by autotune_attitude_control().

tune_pitch_accel

float Copter::ModeAutoTune::tune_pitch_accel

private

Definition at line 530 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), and save_tuning_gains().

tune_pitch_rd

float Copter::ModeAutoTune::tune_pitch_rd

private

Definition at line 530 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_pitch_rp

float Copter::ModeAutoTune::tune_pitch_rp

private

Definition at line 530 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_pitch_sp

float Copter::ModeAutoTune::tune_pitch_sp

private

Definition at line 530 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_roll_accel

float Copter::ModeAutoTune::tune_roll_accel

private

Definition at line 529 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), and save_tuning_gains().

tune_roll_rd

float Copter::ModeAutoTune::tune_roll_rd

private

Definition at line 529 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_roll_rp

float Copter::ModeAutoTune::tune_roll_rp

private

Definition at line 529 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_roll_sp

float Copter::ModeAutoTune::tune_roll_sp

private

Definition at line 529 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_type

TuneType Copter::ModeAutoTune::tune_type

private

Definition at line 499 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), and type_string().

tune_yaw_accel

float Copter::ModeAutoTune::tune_yaw_accel

private

Definition at line 531 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), and save_tuning_gains().

tune_yaw_rLPF

float Copter::ModeAutoTune::tune_yaw_rLPF

private

Definition at line 531 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_yaw_rp

float Copter::ModeAutoTune::tune_yaw_rp

private

Definition at line 531 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

tune_yaw_sp

float Copter::ModeAutoTune::tune_yaw_sp

private

Definition at line 531 of file Copter.h.

Referenced by autotune_attitude_control(), backup_gains_and_initialise(), do_gcs_announcements(), load_tuned_gains(), load_twitch_gains(), and save_tuning_gains().

twitch_first_iter

bool Copter::ModeAutoTune::twitch_first_iter

private

Definition at line 501 of file Copter.h.

Referenced by autotune_attitude_control().

use_poshold

bool Copter::ModeAutoTune::use_poshold

private

Definition at line 502 of file Copter.h.

Referenced by get_poshold_attitude(), and init().

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The documentation for this class was generated from the following files:

• ArduCopter/Copter.h
• ArduCopter/Log.cpp
• ArduCopter/mode_autotune.cpp