SmartRTL_test.cpp File Reference

#include "SmartRTL_test.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_SerialManager/AP_SerialManager.h>

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Classes
class	DummyVehicle

Functions
AP_AHRS_NavEKF &	ahrs (vehicle.ahrs)
void	setup ()
void	loop ()
void	reset ()
void	check_path (const std::vector< Vector3f > &correct_path, const char *test_name, uint32_t time_us)
	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 Compass	compass
static AP_GPS	gps
static AP_Baro	barometer
static AP_SerialManager	serial_manager
static DummyVehicle	vehicle
AP_SmartRTL	smart_rtl {true}
AP_BoardConfig	board_config

Function Documentation

ahrs()

AP_AHRS_NavEKF& ahrs

(

vehicle.

ahrs

)

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by check_path().

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check_path()

void check_path	(	const std::vector< Vector3f > &	correct_path,
		const char *	test_name,
		uint32_t	time_us
	)

Definition at line 96 of file SmartRTL_test.cpp.

Referenced by loop().

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loop()

void loop

(

void

)

Definition at line 47 of file SmartRTL_test.cpp.

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reset()

void reset

(

)

Definition at line 87 of file SmartRTL_test.cpp.

Referenced by AP_GPS_ERB::_detect(), AP_GPS_UBLOX::_detect(), F4Light::PPM_parser::_process_dsm_pulse(), Linux::RCInput::_process_dsm_pulse(), F4Light::PPM_parser::_process_sbus_pulse(), Linux::RCInput::_process_sbus_pulse(), AP_RCProtocol_DSM::AP_RCProtocol_DSM(), PX4::PX4CAN::end(), VRBRAIN::VRBRAINCAN::end(), loop(), AP_RCProtocol_SBUS::process_pulse(), AP_RCProtocol_DSM::process_pulse(), AP_GPS_ERB::read(), AP_GPS_UBLOX::read(), and Linux::CAN::~CAN().

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setup()

void setup

(

void

)

Definition at line 40 of file SmartRTL_test.cpp.

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Variable Documentation

barometer

AP_Baro barometer

static

Definition at line 18 of file SmartRTL_test.cpp.

board_config

AP_BoardConfig board_config

Definition at line 33 of file SmartRTL_test.cpp.

compass

Compass compass

static

Definition at line 16 of file SmartRTL_test.cpp.

gps

AP_GPS gps

static

Definition at line 17 of file SmartRTL_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 12 of file SmartRTL_test.cpp.

ins

AP_InertialSensor ins

static

Definition at line 15 of file SmartRTL_test.cpp.

serial_manager

AP_SerialManager serial_manager

static

Definition at line 19 of file SmartRTL_test.cpp.

smart_rtl

AP_SmartRTL smart_rtl {true}

Definition at line 32 of file SmartRTL_test.cpp.

Referenced by check_path(), loop(), reset(), and setup().

vehicle

DummyVehicle vehicle

static

Definition at line 29 of file SmartRTL_test.cpp.