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

Include dependency graph for Scheduler_test.cpp:

Classes
class	SchedTest

Macros
#define	SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros)

Functions
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...

AP_Int32	log_bitmask

DataFlash_Class	DataFlash {"Bob", log_bitmask}

static AP_BoardConfig	board_config

static SchedTest	schedtest

Macro Definition Documentation

◆ SCHED_TASK

#define SCHED_TASK	(	func,
		_interval_ticks,
		_max_time_micros
	)	SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros)

Definition at line 37 of file Scheduler_test.cpp.

Function Documentation

◆ AP_HAL_MAIN()

AP_HAL_MAIN ( )

Referenced by loop().

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◆ loop()

void loop ( void )

Definition at line 103 of file Scheduler_test.cpp.

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◆ setup()

void setup ( void )

Definition at line 99 of file Scheduler_test.cpp.

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Variable Documentation

◆ board_config

AP_BoardConfig board_config

static

Definition at line 34 of file Scheduler_test.cpp.

◆ DataFlash

DataFlash_Class DataFlash {"Bob", log_bitmask}

Definition at line 14 of file Scheduler_test.cpp.

Referenced by GCS_MAVLINK::handle_param_set().

◆ 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 11 of file Scheduler_test.cpp.

◆ log_bitmask

AP_Int32 log_bitmask

Definition at line 13 of file Scheduler_test.cpp.

Referenced by DataFlashTest::setup(), and DataFlashTest_AllTypes::setup().

◆ schedtest

SchedTest schedtest