test_thread.cpp File Reference

#include <AP_gtest.h>
#include <pthread.h>
#include <unistd.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL_Linux/Thread.h>
#include <AP_HAL_Linux/PollerThread.h>

Include dependency graph for test_thread.cpp:

Go to the source code of this file.

Classes
class	TestThread1
class	TestThread2
class	TestPeriodicThread1

Functions
	TEST (LinuxThread, override_run)
	TEST (LinuxThread, run_task)
	TEST (LinuxThread, poller_thread)
	TEST (LinuxThread, periodic_thread)

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...

Function Documentation

TEST() [1/4]

TEST	(	LinuxThread	,
		override_run
	)

Definition at line 43 of file test_thread.cpp.

Here is the call graph for this function:

TEST() [2/4]

TEST	(	LinuxThread	,
		run_task
	)

Definition at line 67 of file test_thread.cpp.

Here is the call graph for this function:

TEST() [3/4]

TEST	(	LinuxThread	,
		poller_thread
	)

Definition at line 79 of file test_thread.cpp.

Here is the call graph for this function:

TEST() [4/4]

TEST	(	LinuxThread	,
		periodic_thread
	)

Definition at line 101 of file test_thread.cpp.

Here is the call graph for this function:

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 28 of file test_thread.cpp.