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G-Tune port from Harakiri

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Enabled for NAZE, ALIENWWIIF1 and ALIENWIIF3 targets
Implement G-Tune for all PID controllers
The G-Tune tuning results will be save if G-Tune mode will be disabled
during copter is disarmed.
Update PID controller and G-Tune documentation
This commit is contained in:
Michael Jakob 2015-02-27 07:38:51 +01:00
parent b20dc77a74
commit 43f5792a61
15 changed files with 371 additions and 4 deletions
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10
src/main/io/serial_cli.c
View file

@ -517,6 +517,16 @@ const clivalue_t valueTable[] = {
{ "pid5_oldyw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_oldyw, 0, 1 },
{ "pid5_maincuthz", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pid5_maincuthz, 1, 50 },
#ifdef GTUNE
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], 10, 200 },
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], 10, 200 },
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], 10, 200 },
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], 0, 200 },
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], 0, 200 },
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], 0, 200 },
{ "gtune_pwr", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, 0, 10 },
#endif
#ifdef BLACKBOX
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },