AP_Motors_test.cpp File Reference

#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Motors/AP_Motors.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_GPS/AP_GPS.h>
#include <DataFlash/DataFlash.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_ADC/AP_ADC.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Baro/AP_Baro.h>
#include <Filter/Filter.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Declination/AP_Declination.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <SRV_Channel/SRV_Channel.h>

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Macros
#define	HELI_TEST   0
#define	NUM_OUTPUTS   4

Functions
void	setup ()
void	loop ()
void	motor_order_test ()
void	stability_test ()
void	update_motors ()
	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...
SRV_Channels	srvs
AP_MotorsMatrix	motors (400)

Macro Definition Documentation

HELI_TEST

#define HELI_TEST   0

Definition at line 44 of file AP_Motors_test.cpp.

NUM_OUTPUTS

#define NUM_OUTPUTS   4

Definition at line 45 of file AP_Motors_test.cpp.

Referenced by stability_test().

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by update_motors().

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loop()

void loop

(

void

)

Definition at line 84 of file AP_Motors_test.cpp.

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motor_order_test()

void motor_order_test

(

)

Definition at line 109 of file AP_Motors_test.cpp.

Referenced by loop().

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setup()

void setup

(

void

)

Definition at line 57 of file AP_Motors_test.cpp.

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stability_test()

void stability_test

(

)

Definition at line 126 of file AP_Motors_test.cpp.

Referenced by loop().

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update_motors()

void update_motors

(

)

Definition at line 211 of file AP_Motors_test.cpp.

Referenced by stability_test().

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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 35 of file AP_Motors_test.cpp.

motors

AP_MotorsMatrix motors(400)

Referenced by motor_order_test(), setup(), stability_test(), update_motors(), and DataFlash_Class::WritesEnabled().

srvs

SRV_Channels srvs

Definition at line 47 of file AP_Motors_test.cpp.