AC_PID_test.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <AC_PID/AC_PID.h>
#include <AC_PID/AC_HELI_PID.h>
#include <RC_Channel/RC_Channel.h>

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Macros
#define	TEST_P   1.0f
#define	TEST_I   0.01f
#define	TEST_D   0.2f
#define	TEST_IMAX   10
#define	TEST_FILTER   5.0f
#define	TEST_DT   0.01f
#define	TEST_INITIAL_FF   0.0f

Functions
void	setup ()
void	loop ()
	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...

Macro Definition Documentation

TEST_D

#define TEST_D   0.2f

Definition at line 19 of file AC_PID_test.cpp.

Referenced by loop().

TEST_DT

#define TEST_DT   0.01f

Definition at line 22 of file AC_PID_test.cpp.

Referenced by loop().

TEST_FILTER

#define TEST_FILTER   5.0f

Definition at line 21 of file AC_PID_test.cpp.

Referenced by loop().

TEST_I

#define TEST_I   0.01f

Definition at line 18 of file AC_PID_test.cpp.

Referenced by loop().

TEST_IMAX

#define TEST_IMAX   10

Definition at line 20 of file AC_PID_test.cpp.

Referenced by loop().

TEST_INITIAL_FF

#define TEST_INITIAL_FF   0.0f

Definition at line 23 of file AC_PID_test.cpp.

Referenced by loop().

TEST_P

#define TEST_P   1.0f

Definition at line 17 of file AC_PID_test.cpp.

Referenced by loop().

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

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loop()

void loop

(

void

)

Definition at line 34 of file AC_PID_test.cpp.

Referenced by F4Light::Scheduler::_micros(), main(), AP_SmartRTL::remove_points_by_loops(), srxl_channels_get_v1v2(), and srxl_crc16().

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setup()

void setup

(

void

)

Definition at line 26 of file AC_PID_test.cpp.

Referenced by DCD_HandleOutEP_ISR(), and main().

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Variable Documentation

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 14 of file AC_PID_test.cpp.