Autotuning Module

Files
file	autotune.c
	State machine to run autotuning. Low level work done by Stabilization Module.

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

Macro Definition Documentation

#define ATFLASH_MAGIC   0x656e755480008041 /* A...Tune */

Definition at line 65 of file autotune.c.

#define AUTOTUNE_AVERAGING_DECIMATION   1

Definition at line 59 of file autotune.c.

#define AUTOTUNE_STATE_PERIOD_MS   100

Definition at line 56 of file autotune.c.

Enumeration Type Documentation

enum autotune_state

Enumerator
AT_INIT
AT_RUN

Definition at line 63 of file autotune.c.

Function Documentation

static void at_new_actuators ( const UAVObjEvent *  ev, void *  ctx, void *  obj, int  len  )

static

Definition at line 147 of file autotune.c.

static int autotune_save_averaging ( )

static

Definition at line 213 of file autotune.c.

static void autotune_step ( const UAVObjEvent *  ev, void *  ctx, void *  obj, int  len  )

static

Module periodic task.

Definition at line 262 of file autotune.c.

int32_t AutotuneInitialize

(

void

)

Initialise the module, called on startup

Returns

0 on success or -1 if initialisation failed

Definition at line 103 of file autotune.c.

int32_t AutotuneStart

(

void

)

Initialise the module, called on startup

Returns

0 on success or -1 if initialisation failed

Definition at line 129 of file autotune.c.

static void UpdateSystemIdent ( uint32_t  predicts, float  hover_throttle, bool  new_tune  )

static

Definition at line 201 of file autotune.c.

Variable Documentation

struct at_measurement* at_averages

static

Definition at line 81 of file autotune.c.

uint16_t decim_wiggle_points

static

Definition at line 93 of file autotune.c.

uint16_t ident_wiggle_points

Definition at line 152 of file stabilization.c.

bool module_enabled

static

Definition at line 84 of file autotune.c.

bool save_needed = false

static

Definition at line 92 of file autotune.c.

enum autotune_state state = AT_INIT

static

Definition at line 91 of file autotune.c.

volatile uint32_t throttle_accumulator

static

Definition at line 86 of file autotune.c.

volatile bool tune_running = false

static

Definition at line 88 of file autotune.c.

volatile uint32_t update_counter = 0

static

Definition at line 87 of file autotune.c.