GPS_AUTO_test.cpp File Reference

#include <stdlib.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/AP_HAL.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_Math/AP_Math.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Notify/AP_BoardLED.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_BoardConfig/AP_BoardConfig.h>

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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...
static AP_BoardConfig	board_config
AP_BoardLED	board_led
static AP_GPS	gps
static AP_SerialManager	serial_manager

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

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loop()

void loop

(

void

)

Definition at line 64 of file GPS_AUTO_test.cpp.

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setup()

void setup

(

void

)

Definition at line 50 of file GPS_AUTO_test.cpp.

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Variable Documentation

board_config

AP_BoardConfig board_config

static

Definition at line 39 of file GPS_AUTO_test.cpp.

board_led

AP_BoardLED board_led

Definition at line 42 of file GPS_AUTO_test.cpp.

gps

AP_GPS gps

static

Definition at line 45 of file GPS_AUTO_test.cpp.

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 37 of file GPS_AUTO_test.cpp.

serial_manager

AP_SerialManager serial_manager

static

Definition at line 47 of file GPS_AUTO_test.cpp.