Copter: Added Quicktune

disabled by default except in SITL
tridge · Dec 17, 2024 · d8d5f61 · d8d5f61
1 parent b094390
commit d8d5f61
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Showing 7 changed files with 68 additions and 1 deletion.
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -259,6 +259,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune,       40, 100, 171),
+#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -831,6 +834,18 @@ void Copter::update_altitude()
 #endif
 }
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Copter::update_quicktune(void)
+{
+    quicktune.update(flightmode->supports_quicktune());
+}
+#endif
+
 // vehicle specific waypoint info helpers
 bool Copter::get_wp_distance_m(float &distance) const
 {

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -73,6 +73,15 @@
 #include <AP_Winch/AP_Winch_config.h>
 #include <AP_SurfaceDistance/AP_SurfaceDistance.h>
 
+/*
+  default quicktune off in copter except for SITL
+ */
+#ifndef AP_QUICKTUNE_ENABLED
+#define AP_QUICKTUNE_ENABLED CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+
+#include <AP_Quicktune/AP_Quicktune.h>
+
 // Configuration
 #include "defines.h"
 #include "config.h"
@@ -87,6 +96,12 @@
  #include <AC_Autorotation/AC_Autorotation.h> // Autorotation controllers
 #endif
 
+#if FRAME_CONFIG == HELI_FRAME
+// force quicktune off in heli until it has had testing
+#undef AP_QUICKTUNE_ENABLED
+#define AP_QUICKTUNE_ENABLED 0
+#endif
+
 #include "RC_Channel.h"         // RC Channel Library
 
 #include "GCS_Mavlink.h"
@@ -486,6 +501,10 @@ class Copter : public AP_Vehicle {
     AC_Circle *circle_nav;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    AP_Quicktune quicktune;
+#endif
+
     // System Timers
     // --------------
     // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
@@ -716,6 +735,9 @@ class Copter : public AP_Vehicle {
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
     bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
 
     // Attitude.cpp
     void update_throttle_hover();

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -493,6 +493,12 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECTPTR(circle_nav, "CIRCLE_",  AC_Circle),
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    // @Group: QWIK_
+    // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
+    GOBJECT(quicktune, "QWIK_",  AP_Quicktune),
+#endif
+
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
     GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -202,6 +202,7 @@ class Parameters {
         k_param_circle_nav,
         k_param_loiter_nav,     // 105
         k_param_custom_control,
+        k_param_quicktune,
 
         // 110: Telemetry control
         //

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
@@ -114,7 +114,10 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::ARMDISARM_AIRMODE:
     case AUX_FUNC::TURBINE_START:
     case AUX_FUNC::FLIGHTMODE_PAUSE:
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
         break;
+#endif
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
     case AUX_FUNC::ATTCON_FEEDFWD:
@@ -667,6 +670,12 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         // do nothing, used in tuning.cpp for transmitter based tuning
         break;
 
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
+        copter.quicktune.update_switch_pos(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -200,6 +200,11 @@ class Mode {
     virtual bool allows_weathervaning() const { return false; }
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    // does this mode support VTOL quicktune?
+    virtual bool supports_quicktune() const { return false; }
+#endif
+
 protected:
 
     // helper functions
@@ -491,6 +496,10 @@ class ModeAltHold : public Mode {
     const char *name() const override { return "ALT_HOLD"; }
     const char *name4() const override { return "ALTH"; }
 
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
+
 private:
 
 };
@@ -1311,6 +1320,10 @@ class ModeLoiter : public Mode {
     void precision_loiter_xy();
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
+
 private:
 
 #if AC_PRECLAND_ENABLED

diff --git a/ArduCopter/wscript b/ArduCopter/wscript
@@ -27,7 +27,8 @@ def build(bld):
             'AP_Devo_Telem',
             'AC_AutoTune',
             'AP_KDECAN',
-            'AP_SurfaceDistance'
+            'AP_SurfaceDistance',
+            'AP_Quicktune',
         ],
     )