Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Tuning/AP_Tuning_config.h>
       4             : 
       5             : #if AP_TUNING_ENABLED
       6             : 
       7             : #include <AP_Tuning/AP_Tuning.h>
       8             : 
       9             : /*
      10             :   Plane transmitter tuning
      11             :  */
      12             : class AP_Tuning_Plane : public AP_Tuning
      13             : {
      14             : private:
      15             :     // table of tuning sets
      16             :     static const tuning_set tuning_sets[];
      17             : 
      18             :     // table of tuning parameter names for reporting
      19             :     static const tuning_name tuning_names[];
      20             :     
      21             : public:
      22             :     // constructor
      23         692 :     AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {}
      24             : 
      25             :     static const struct AP_Param::GroupInfo  var_info[];
      26             :     
      27             : private:
      28             : 
      29             :     // individual tuning parameters
      30             :     enum tuning_func {
      31             :         TUNING_NONE =                          0,
      32             : 
      33             :         // quadplane tuning
      34             :         TUNING_RATE_ROLL_PI =                  1,
      35             :         TUNING_RATE_ROLL_P =                   2,
      36             :         TUNING_RATE_ROLL_I =                   3,
      37             :         TUNING_RATE_ROLL_D =                   4,
      38             : 
      39             :         TUNING_RATE_PITCH_PI =                 5,
      40             :         TUNING_RATE_PITCH_P =                  6,
      41             :         TUNING_RATE_PITCH_I =                  7,
      42             :         TUNING_RATE_PITCH_D =                  8,
      43             : 
      44             :         TUNING_RATE_YAW_PI =                   9,
      45             :         TUNING_RATE_YAW_P =                   10,
      46             :         TUNING_RATE_YAW_I =                   11,
      47             :         TUNING_RATE_YAW_D =                   12,
      48             : 
      49             :         TUNING_ANG_ROLL_P =                   13,
      50             :         TUNING_ANG_PITCH_P =                  14,
      51             :         TUNING_ANG_YAW_P =                    15,
      52             : 
      53             :         TUNING_PXY_P =                        16,
      54             :         TUNING_PZ_P  =                        17,
      55             : 
      56             :         TUNING_VXY_P =                        18,
      57             :         TUNING_VXY_I =                        19,
      58             :         TUNING_VZ_P  =                        20,
      59             : 
      60             :         TUNING_AZ_P =                         21,
      61             :         TUNING_AZ_I =                         22,
      62             :         TUNING_AZ_D  =                        23,
      63             : 
      64             :         TUNING_RATE_PITCH_FF =         24,
      65             :         TUNING_RATE_ROLL_FF =         25,
      66             :         TUNING_RATE_YAW_FF =         26,
      67             : 
      68             :         // fixed wing tuning
      69             :         TUNING_FIXED_WING_BASE =              50,
      70             :         TUNING_RLL_P =                        50,
      71             :         TUNING_RLL_I =                        51,
      72             :         TUNING_RLL_D =                        52,
      73             :         TUNING_RLL_FF =                       53,
      74             : 
      75             :         TUNING_PIT_P =                        54,
      76             :         TUNING_PIT_I =                        55,
      77             :         TUNING_PIT_D =                        56,
      78             :         TUNING_PIT_FF =                       57,
      79             : 
      80             :         TUNING_Q_FWD_THR =                    58,
      81             :     };
      82             : 
      83             :     /*
      84             :       sets of tuning values, chosen with TUNE_PARMSET over 100
      85             :      */
      86             :     enum tuning_sets {
      87             :         TUNING_SET_RATE_ROLL_PITCH =         1,
      88             :         TUNING_SET_RATE_ROLL =               2,
      89             :         TUNING_SET_RATE_PITCH =              3,
      90             :         TUNING_SET_RATE_YAW =                4,
      91             :         TUNING_SET_ANG_ROLL_PITCH =          5,
      92             :         TUNING_SET_VXY =                     6,
      93             :         TUNING_SET_AZ =                      7,
      94             :         TUNING_SET_RATE_PITCHDP =            8,
      95             :         TUNING_SET_RATE_ROLLDP =             9,
      96             :         TUNING_SET_RATE_YAWDP =             10,
      97             :         TUNING_SET_DP_ROLL_PITCH =          11,
      98             :         TUNING_SET_PIDFF_ROLL =             12,
      99             :         TUNING_SET_PIDFF_PITCH =            13,
     100             :     };
     101             : 
     102             :     AP_Float *get_param_pointer(uint8_t parm) override;
     103             :     void save_value(uint8_t parm) override;
     104             :     void reload_value(uint8_t parm) override;
     105             :     void set_value(uint8_t parm, float value) override;
     106             : 
     107             :     // tuning set arrays
     108             :     static const uint8_t tuning_set_rate_roll_pitch[];
     109             :     static const uint8_t tuning_set_rate_roll[];
     110             :     static const uint8_t tuning_set_rate_pitch[];
     111             :     static const uint8_t tuning_set_rate_yaw[];
     112             :     static const uint8_t tuning_set_ang_roll_pitch[];
     113             :     static const uint8_t tuning_set_vxy[];
     114             :     static const uint8_t tuning_set_az[];
     115             :     static const uint8_t tuning_set_rate_pitchDP[];
     116             :     static const uint8_t tuning_set_rate_rollDP[];
     117             :     static const uint8_t tuning_set_rate_yawDP[];
     118             :     static const uint8_t tuning_set_dp_roll_pitch[];
     119             :     static const uint8_t tuning_set_pidff_roll[];
     120             :     static const uint8_t tuning_set_pidff_pitch[];
     121             : 
     122             :     // mask of what params have been set
     123             :     uint64_t have_set;
     124             : };
     125             : 
     126             : #endif  // AP_TUNING_ENABLED