ModuleTest.cpp File Reference

#include <AP_ADC/AP_ADC.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Module/AP_Module.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_InertialSensor	ins
static AP_GPS	gps
static AP_Baro	baro
static AP_SerialManager	serial_manager
static AP_AHRS_DCM	ahrs {}

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 ModuleTest.cpp.

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setup()

void setup

(

void

)

Definition at line 24 of file ModuleTest.cpp.

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Variable Documentation

ahrs

AP_AHRS_DCM ahrs {}

static

Definition at line 22 of file ModuleTest.cpp.

Referenced by loop(), and setup().

baro

AP_Baro baro

static

Definition at line 18 of file ModuleTest.cpp.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), AP_TempCalibration::apply_calibration(), AP_AdvancedFailsafe::check_altlimit(), AP_TempCalibration::learn_calibration(), DataFlash_Class::Log_Write_Baro(), DataFlash_Class::Log_Write_Baro_instance(), NavEKF2_core::readBaroData(), NavEKF3_core::readBaroData(), and AP_ADSB::send_dynamic_out().

gps

AP_GPS gps

static

Definition at line 17 of file ModuleTest.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 13 of file ModuleTest.cpp.

ins

AP_InertialSensor ins

static

Definition at line 16 of file ModuleTest.cpp.

serial_manager

AP_SerialManager serial_manager

static

Definition at line 19 of file ModuleTest.cpp.