mode_autotune.cpp File Reference

#include "Copter.h"

Macros
#define	AUTOTUNE_AXIS_BITMASK_ROLL   1
#define	AUTOTUNE_AXIS_BITMASK_PITCH   2
#define	AUTOTUNE_AXIS_BITMASK_YAW   4
#define	AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS   500
#define	AUTOTUNE_TESTING_STEP_TIMEOUT_MS   1000
#define	AUTOTUNE_LEVEL_ANGLE_CD   500
#define	AUTOTUNE_LEVEL_RATE_RP_CD   1000
#define	AUTOTUNE_LEVEL_RATE_Y_CD   750
#define	AUTOTUNE_REQUIRED_LEVEL_TIME_MS   500
#define	AUTOTUNE_RD_STEP   0.05f
#define	AUTOTUNE_RP_STEP   0.05f
#define	AUTOTUNE_SP_STEP   0.05f
#define	AUTOTUNE_PI_RATIO_FOR_TESTING   0.1f
#define	AUTOTUNE_PI_RATIO_FINAL   1.0f
#define	AUTOTUNE_YAW_PI_RATIO_FINAL   0.1f
#define	AUTOTUNE_RD_MAX   0.200f
#define	AUTOTUNE_RLPF_MIN   1.0f
#define	AUTOTUNE_RLPF_MAX   5.0f
#define	AUTOTUNE_RP_MIN   0.01f
#define	AUTOTUNE_RP_MAX   2.0f
#define	AUTOTUNE_SP_MAX   20.0f
#define	AUTOTUNE_SP_MIN   0.5f
#define	AUTOTUNE_RP_ACCEL_MIN   4000.0f
#define	AUTOTUNE_Y_ACCEL_MIN   1000.0f
#define	AUTOTUNE_Y_FILT_FREQ   10.0f
#define	AUTOTUNE_SUCCESS_COUNT   4
#define	AUTOTUNE_D_UP_DOWN_MARGIN   0.2f
#define	AUTOTUNE_RD_BACKOFF   1.0f
#define	AUTOTUNE_RP_BACKOFF   1.0f
#define	AUTOTUNE_SP_BACKOFF   0.9f
#define	AUTOTUNE_ACCEL_RP_BACKOFF   1.0f
#define	AUTOTUNE_ACCEL_Y_BACKOFF   1.0f
#define	AUTOTUNE_TARGET_ANGLE_RLLPIT_CD   2000
#define	AUTOTUNE_TARGET_RATE_RLLPIT_CDS   18000
#define	AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD   1000
#define	AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS   4500
#define	AUTOTUNE_TARGET_ANGLE_YAW_CD   3000
#define	AUTOTUNE_TARGET_RATE_YAW_CDS   9000
#define	AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD   500
#define	AUTOTUNE_TARGET_MIN_RATE_YAW_CDS   1500
#define	AUTOTUNE_MESSAGE_STARTED   0
#define	AUTOTUNE_MESSAGE_STOPPED   1
#define	AUTOTUNE_MESSAGE_SUCCESS   2
#define	AUTOTUNE_MESSAGE_FAILED   3
#define	AUTOTUNE_MESSAGE_SAVED_GAINS   4
#define	AUTOTUNE_ANNOUNCE_INTERVAL_MS   2000

Macro Definition Documentation

AUTOTUNE_ACCEL_RP_BACKOFF

#define AUTOTUNE_ACCEL_RP_BACKOFF   1.0f

AUTOTUNE_ACCEL_Y_BACKOFF

#define AUTOTUNE_ACCEL_Y_BACKOFF   1.0f

AUTOTUNE_ANNOUNCE_INTERVAL_MS

#define AUTOTUNE_ANNOUNCE_INTERVAL_MS   2000

AUTOTUNE_AXIS_BITMASK_PITCH

#define AUTOTUNE_AXIS_BITMASK_PITCH   2

AUTOTUNE_AXIS_BITMASK_ROLL

#define AUTOTUNE_AXIS_BITMASK_ROLL   1

AUTOTUNE_AXIS_BITMASK_YAW

#define AUTOTUNE_AXIS_BITMASK_YAW   4

AUTOTUNE_D_UP_DOWN_MARGIN

#define AUTOTUNE_D_UP_DOWN_MARGIN   0.2f

AUTOTUNE_LEVEL_ANGLE_CD

#define AUTOTUNE_LEVEL_ANGLE_CD   500

AUTOTUNE_LEVEL_RATE_RP_CD

#define AUTOTUNE_LEVEL_RATE_RP_CD   1000

AUTOTUNE_LEVEL_RATE_Y_CD

#define AUTOTUNE_LEVEL_RATE_Y_CD   750

AUTOTUNE_MESSAGE_FAILED

#define AUTOTUNE_MESSAGE_FAILED   3

AUTOTUNE_MESSAGE_SAVED_GAINS

#define AUTOTUNE_MESSAGE_SAVED_GAINS   4

AUTOTUNE_MESSAGE_STARTED

#define AUTOTUNE_MESSAGE_STARTED   0

AUTOTUNE_MESSAGE_STOPPED

#define AUTOTUNE_MESSAGE_STOPPED   1

AUTOTUNE_MESSAGE_SUCCESS

#define AUTOTUNE_MESSAGE_SUCCESS   2

AUTOTUNE_PI_RATIO_FINAL

#define AUTOTUNE_PI_RATIO_FINAL   1.0f

AUTOTUNE_PI_RATIO_FOR_TESTING

#define AUTOTUNE_PI_RATIO_FOR_TESTING   0.1f

AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS

#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS   500

AUTOTUNE_RD_BACKOFF

#define AUTOTUNE_RD_BACKOFF   1.0f

AUTOTUNE_RD_MAX

#define AUTOTUNE_RD_MAX   0.200f

AUTOTUNE_RD_STEP

#define AUTOTUNE_RD_STEP   0.05f

AUTOTUNE_REQUIRED_LEVEL_TIME_MS

#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS   500

AUTOTUNE_RLPF_MAX

#define AUTOTUNE_RLPF_MAX   5.0f

AUTOTUNE_RLPF_MIN

#define AUTOTUNE_RLPF_MIN   1.0f

AUTOTUNE_RP_ACCEL_MIN

#define AUTOTUNE_RP_ACCEL_MIN   4000.0f

AUTOTUNE_RP_BACKOFF

#define AUTOTUNE_RP_BACKOFF   1.0f

AUTOTUNE_RP_MAX

#define AUTOTUNE_RP_MAX   2.0f

AUTOTUNE_RP_MIN

#define AUTOTUNE_RP_MIN   0.01f

AUTOTUNE_RP_STEP

#define AUTOTUNE_RP_STEP   0.05f

AUTOTUNE_SP_BACKOFF

#define AUTOTUNE_SP_BACKOFF   0.9f

AUTOTUNE_SP_MAX

#define AUTOTUNE_SP_MAX   20.0f

AUTOTUNE_SP_MIN

#define AUTOTUNE_SP_MIN   0.5f

AUTOTUNE_SP_STEP

#define AUTOTUNE_SP_STEP   0.05f

AUTOTUNE_SUCCESS_COUNT

#define AUTOTUNE_SUCCESS_COUNT   4

AUTOTUNE_TARGET_ANGLE_RLLPIT_CD

#define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD   2000

AUTOTUNE_TARGET_ANGLE_YAW_CD

#define AUTOTUNE_TARGET_ANGLE_YAW_CD   3000

AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD

#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD   1000

AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD

#define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD   500

AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS

#define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS   4500

AUTOTUNE_TARGET_MIN_RATE_YAW_CDS

#define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS   1500

AUTOTUNE_TARGET_RATE_RLLPIT_CDS

#define AUTOTUNE_TARGET_RATE_RLLPIT_CDS   18000

AUTOTUNE_TARGET_RATE_YAW_CDS

#define AUTOTUNE_TARGET_RATE_YAW_CDS   9000

AUTOTUNE_TESTING_STEP_TIMEOUT_MS

#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS   1000

AUTOTUNE_Y_ACCEL_MIN

#define AUTOTUNE_Y_ACCEL_MIN   1000.0f

AUTOTUNE_Y_FILT_FREQ

#define AUTOTUNE_Y_FILT_FREQ   10.0f

AUTOTUNE_YAW_PI_RATIO_FINAL

#define AUTOTUNE_YAW_PI_RATIO_FINAL   0.1f