matrix_alg.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <stdio.h>

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Macros
#define	MAT_ALG_ACCURACY   1e-4f

Functions
static uint16_t	get_random (void)
static void	show_matrix (float *A, int n)
static bool	compare_mat (const float *A, const float *B, const uint8_t n)
static void	test_matrix_inverse (void)
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...

Macro Definition Documentation

MAT_ALG_ACCURACY

#define MAT_ALG_ACCURACY   1e-4f

Definition at line 10 of file matrix_alg.cpp.

Referenced by compare_mat().

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

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compare_mat()

static bool compare_mat ( const float *  A, const float *  B, const uint8_t  n  )

static

Definition at line 30 of file matrix_alg.cpp.

Referenced by test_matrix_inverse().

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get_random()

static uint16_t get_random ( void  )

static

Definition at line 12 of file matrix_alg.cpp.

Referenced by test_matrix_inverse().

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loop()

void loop

(

void

)

Definition at line 155 of file matrix_alg.cpp.

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setup()

void setup

(

void

)

Definition at line 148 of file matrix_alg.cpp.

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show_matrix()

static void show_matrix ( float *  A, int  n  )

static

Definition at line 22 of file matrix_alg.cpp.

Referenced by test_matrix_inverse().

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test_matrix_inverse()

static void test_matrix_inverse ( void  )

static

Definition at line 42 of file matrix_alg.cpp.

Referenced by setup().

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Variable Documentation

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 8 of file matrix_alg.cpp.