autotune.c File Reference

State machine to run autotuning. Low level work done by Stabilization Module. More...

#include "openpilot.h"
#include "pios.h"
#include "physical_constants.h"
#include "flightstatus.h"
#include "modulesettings.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "gyros.h"
#include "actuatordesired.h"
#include "stabilizationdesired.h"
#include "stabilizationsettings.h"
#include "systemident.h"
#include <pios_board_info.h>
#include <eventdispatcher.h>
#include "systemsettings.h"
#include "misc_math.h"

Go to the source code of this file.

Data Structures
struct	at_flash_header
struct	at_measurement

Macros
#define	AUTOTUNE_STATE_PERIOD_MS   100
#define	AUTOTUNE_AVERAGING_DECIMATION   1
#define	ATFLASH_MAGIC   0x656e755480008041 /* A...Tune */

Enumerations
enum	autotune_state { AT_INIT, AT_RUN }

Functions
static void	autotune_step (const UAVObjEvent *ev, void *ctx, void *obj, int len)
int32_t	AutotuneInitialize (void)
int32_t	AutotuneStart (void)
static void	at_new_actuators (const UAVObjEvent *ev, void *ctx, void *obj, int len)
static void	UpdateSystemIdent (uint32_t predicts, float hover_throttle, bool new_tune)
static int	autotune_save_averaging ()

Variables
static struct at_measurement *	at_averages
static bool	module_enabled
static volatile uint32_t	throttle_accumulator
static volatile uint32_t	update_counter = 0
static volatile bool	tune_running = false
uint16_t	ident_wiggle_points
static enum autotune_state	state = AT_INIT
static bool	save_needed = false
static uint16_t	decim_wiggle_points

Detailed Description

State machine to run autotuning. Low level work done by Stabilization Module.

Author

dRonin, http://dRonin.org/, Copyright (C) 2015-2016

Tau Labs, http://taulabs.org, Copyright (C) 2013-2016

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.

See Also

The GNU Public License (GPL) Version 3

Definition in file autotune.c.