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Initial commit for implementation of autotune.

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This commit is contained in:
Dominic Clifton 2014-05-27 00:33:28 +01:00
parent 49c283fe59
commit f7c38af7fc
10 changed files with 184 additions and 3 deletions
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27
src/mw.c
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@ -22,6 +22,7 @@
#include "failsafe.h"
#include "flight_imu.h"
#include "flight_common.h"
#include "flight_autotune.h"
#include "flight_mixer.h"
#include "gimbal.h"
#include "gps_common.h"
@ -78,6 +79,30 @@ bool AccInflightCalibrationSavetoEEProm = false;
bool AccInflightCalibrationActive = false;
uint16_t InflightcalibratingA = 0;
void updateAutotuneState(void)
{
if (rcOptions[BOXAUTOTUNE]) {
if (!f.AUTOTUNE_MODE) {
if (f.ARMED) {
autotuneBegin(&currentProfile.pidProfile, currentProfile.pidController);
f.AUTOTUNE_MODE = 1;
} else {
if (havePidsBeenUpdatedByAutotune()) {
//writeEEPROM();
blinkLedAndSoundBeeper(5, 50, 1);
autotuneReset();
}
}
}
return;
}
if (f.AUTOTUNE_MODE) {
autotuneEnd();
f.AUTOTUNE_MODE = 0;
}
}
bool isCalibrating()
{
#ifdef BARO
@ -603,6 +628,8 @@ void loop(void)
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
updateAutotuneState();
#ifdef MAG
if (sensors(SENSOR_MAG)) {
if (abs(rcCommand[YAW]) < 70 && f.MAG_MODE) {