RCOutput.cpp File Reference

#include <AP_HAL/AP_HAL.h>

Include dependency graph for RCOutput.cpp:

Go to the source code of this file.

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 uint16_t	pwm = 1500
static int8_t	delta = 1

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

Here is the caller graph for this function:

loop()

void loop

(

void

)

Definition at line 23 of file RCOutput.cpp.

Here is the call graph for this function:

setup()

void setup

(

void

)

Definition at line 12 of file RCOutput.cpp.

Here is the call graph for this function:

Variable Documentation

delta

int8_t delta = 1

static

Definition at line 21 of file RCOutput.cpp.

Referenced by AP_Baro_SITL::_timer(), Vector2< int32_t >::circle_segment_intersection(), Vector2< int32_t >::closest_distance_between_radial_and_point(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), AP_Baro::get_baro_drift_offset(), NavEKF3_core::initialiseQuatCovariances(), loop(), CompassLearn::process_sample(), AP_Baro::setHIL(), SITL::Sprayer::update(), AP_Stats::update_flighttime(), AP_Stats::update_runtime(), and AP_Landing_Deepstall::verify_land().

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 10 of file RCOutput.cpp.

pwm

uint16_t pwm = 1500

static

Definition at line 20 of file RCOutput.cpp.

Referenced by HALSITL::SITL_State::_check_rc_input(), F4Light::GPIO::_pinMode(), HALSITL::SITL_State::_simulator_servos(), F4Light::RCOutput::_timer_period(), AP_MotorsCoax::AP_MotorsCoax(), AP_MotorsHeli::AP_MotorsHeli(), AP_MotorsHeli_Dual::AP_MotorsHeli_Dual(), AP_MotorsHeli_Quad::AP_MotorsHeli_Quad(), AP_MotorsHeli_Single::AP_MotorsHeli_Single(), AP_MotorsMatrix::AP_MotorsMatrix(), AP_MotorsSingle::AP_MotorsSingle(), AP_MotorsTri::AP_MotorsTri(), SRV_Channel::calc_pwm(), SITL::Submarine::calculate_forces(), ChibiOS::RCOutput::dshot_send(), Linux::RCOutput_Bebop::from(), RC_Channel::get_dead_zone(), loop(), SRV_Channels::move_servo(), Linux::RCOutput_Bebop::play_note(), Compass_PerMotor::scaled_output(), AP_ServoRelayEvents::set_channel_mask(), SRV_Channels::set_failsafe_limit(), SRV_Channels::set_output_limit(), SRV_Channel::set_output_pwm(), RC_Channel::set_pwm(), SRV_Channels::set_reversible_throttle(), SRV_Channels::set_safety_limit(), AP_Motors::set_update_rate(), AP_MotorsMulticopter::set_yaw_headroom(), and F4Light::RCOutput::write().