simple.cpp File Reference

#include <AP_HAL/AP_HAL.h>

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Functions
void	setup ()
void	loop ()
	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
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Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

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Referenced by loop().

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loop()

void loop

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void

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Definition at line 17 of file simple.cpp.

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setup()

void setup

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void

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Definition at line 13 of file simple.cpp.

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Variable Documentation

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

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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 simple.cpp.