AP_AutoTune Class Reference

#include <AP_AutoTune.h>

Collaboration diagram for AP_AutoTune:

Classes
struct	ATGains
struct	log_ATRP

Public Types
enum	ATType { AUTOTUNE_ROLL = 0, AUTOTUNE_PITCH = 1 }

Public Member Functions
	AP_AutoTune (ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash)
void	start (void)
void	stop (void)
void	update (float desired_rate, float achieved_rate, float servo_out)

Public Attributes
bool	running:1

Private Types
enum	ATState {   DEMAND_UNSATURATED, DEMAND_UNDER_POS, DEMAND_OVER_POS, DEMAND_UNDER_NEG,   DEMAND_OVER_NEG }

Private Member Functions
void	check_save (void)
void	check_state_exit (uint32_t state_time_ms)
void	save_gains (const ATGains &v)
void	write_log (float servo, float demanded, float achieved)
void	log_param_change (float v, const char *suffix)
void	save_float_if_changed (AP_Float &v, float value, const char *suffix)
void	save_int16_if_changed (AP_Int16 &v, int16_t value, const char *suffix)

Private Attributes
ATGains &	current
ATType	type
const AP_Vehicle::FixedWing &	aparm
DataFlash_Class &	dataflash
bool	saturated_surfaces:1
ATGains	restore
ATGains	last_save
ATGains	next_save
uint32_t	last_save_ms = 0
enum AP_AutoTune::ATState	state = DEMAND_UNSATURATED
uint32_t	state_enter_ms = 0

Detailed Description

Definition at line 7 of file AP_AutoTune.h.

Member Enumeration Documentation

ATState

enum AP_AutoTune::ATState

private

Enumerator
DEMAND_UNSATURATED
DEMAND_UNDER_POS
DEMAND_OVER_POS
DEMAND_UNDER_NEG
DEMAND_OVER_NEG

Definition at line 80 of file AP_AutoTune.h.

ATType

enum AP_AutoTune::ATType

Enumerator
AUTOTUNE_ROLL
AUTOTUNE_PITCH

Definition at line 19 of file AP_AutoTune.h.

Constructor & Destructor Documentation

AP_AutoTune()

AP_AutoTune::AP_AutoTune	(	ATGains &	_gains,
		ATType	type,
		const AP_Vehicle::FixedWing &	parms,
		DataFlash_Class &	_dataflash
	)

Definition at line 69 of file AP_AutoTune.cpp.

Member Function Documentation

check_save()

void AP_AutoTune::check_save ( void  )

private

Definition at line 240 of file AP_AutoTune.cpp.

Referenced by update().

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check_state_exit()

void AP_AutoTune::check_state_exit ( uint32_t  state_time_ms )

private

Definition at line 205 of file AP_AutoTune.cpp.

Referenced by update().

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log_param_change()

void AP_AutoTune::log_param_change ( float  v, const char *  suffix  )

private

Definition at line 269 of file AP_AutoTune.cpp.

Referenced by save_float_if_changed(), and save_int16_if_changed().

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save_float_if_changed()

void AP_AutoTune::save_float_if_changed ( AP_Float &  v, float  value, const char *  suffix  )

private

Definition at line 290 of file AP_AutoTune.cpp.

Referenced by save_gains().

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save_gains()

void AP_AutoTune::save_gains ( const ATGains &  v )

private

Definition at line 317 of file AP_AutoTune.cpp.

Referenced by check_save(), and stop().

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save_int16_if_changed()

void AP_AutoTune::save_int16_if_changed ( AP_Int16 &  v, int16_t  value, const char *  suffix  )

private

Definition at line 303 of file AP_AutoTune.cpp.

Referenced by save_gains().

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start()

void AP_AutoTune::start

(

void

)

Definition at line 114 of file AP_AutoTune.cpp.

Referenced by AP_PitchController::autotune_start(), and AP_RollController::autotune_start().

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stop()

void AP_AutoTune::stop

(

void

)

Definition at line 152 of file AP_AutoTune.cpp.

Referenced by AP_PitchController::autotune_restore(), and AP_RollController::autotune_restore().

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update()

void AP_AutoTune::update	(	float	desired_rate,
		float	achieved_rate,
		float	servo_out
	)

Definition at line 164 of file AP_AutoTune.cpp.

Referenced by AP_PitchController::_get_rate_out(), and AP_RollController::_get_rate_out().

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write_log()

void AP_AutoTune::write_log ( float  servo, float  demanded, float  achieved  )

private

Definition at line 329 of file AP_AutoTune.cpp.

Referenced by update().

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Member Data Documentation

aparm

const AP_Vehicle::FixedWing& AP_AutoTune::aparm

private

Definition at line 60 of file AP_AutoTune.h.

Referenced by check_state_exit(), and start().

current

ATGains& AP_AutoTune::current

private

Definition at line 55 of file AP_AutoTune.h.

Referenced by check_save(), check_state_exit(), save_gains(), start(), update(), and write_log().

dataflash

DataFlash_Class& AP_AutoTune::dataflash

private

Definition at line 62 of file AP_AutoTune.h.

Referenced by log_param_change(), and write_log().

last_save

ATGains AP_AutoTune::last_save

private

Definition at line 71 of file AP_AutoTune.h.

Referenced by save_gains(), and start().

last_save_ms

uint32_t AP_AutoTune::last_save_ms = 0

private

Definition at line 77 of file AP_AutoTune.h.

Referenced by check_save(), and start().

next_save

ATGains AP_AutoTune::next_save

private

Definition at line 74 of file AP_AutoTune.h.

Referenced by check_save(), and start().

restore

ATGains AP_AutoTune::restore

private

Definition at line 68 of file AP_AutoTune.h.

Referenced by check_save(), start(), and stop().

running

bool AP_AutoTune::running

Definition at line 51 of file AP_AutoTune.h.

Referenced by AP_PitchController::_get_rate_out(), AP_RollController::_get_rate_out(), start(), stop(), and update().

saturated_surfaces

bool AP_AutoTune::saturated_surfaces

private

Definition at line 65 of file AP_AutoTune.h.

Referenced by check_state_exit(), and update().

state

enum AP_AutoTune::ATState AP_AutoTune::state = DEMAND_UNSATURATED

private

Referenced by check_state_exit(), start(), update(), and write_log().

state_enter_ms

uint32_t AP_AutoTune::state_enter_ms = 0

private

Definition at line 87 of file AP_AutoTune.h.

Referenced by start(), and update().

type

ATType AP_AutoTune::type

private

Definition at line 58 of file AP_AutoTune.h.

Referenced by log_param_change(), and write_log().

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The documentation for this class was generated from the following files:

• libraries/APM_Control/AP_AutoTune.h
• libraries/APM_Control/AP_AutoTune.cpp