INS_generic.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_InertialSensor/AP_InertialSensor.h>

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Functions
static void	display_offsets_and_scaling ()
static void	run_test ()
void	setup (void)
void	loop (void)
	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_InertialSensor	ins
static AP_BoardConfig	BoardConfig

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by run_test().

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display_offsets_and_scaling()

static void display_offsets_and_scaling ( )

static

Definition at line 77 of file INS_generic.cpp.

Referenced by loop(), and setup().

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loop()

void loop

(

void

)

Definition at line 42 of file INS_generic.cpp.

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run_test()

static void run_test ( )

static

Definition at line 98 of file INS_generic.cpp.

Referenced by loop().

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setup()

void setup

(

void

)

Definition at line 22 of file INS_generic.cpp.

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Variable Documentation

BoardConfig

AP_BoardConfig BoardConfig

static

Definition at line 17 of file INS_generic.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 9 of file INS_generic.cpp.

ins

AP_InertialSensor ins

static

Definition at line 11 of file INS_generic.cpp.