ArduPlane/qautotune.h

   1 /*
   2   support for autotune of quadplanes
   3  */
   4
   5 #pragma once
   6
   7 #include <AP_HAL/AP_HAL_Boards.h>
   8
   9 #include "quadplane.h"
  10 #ifndef QAUTOTUNE_ENABLED
  11   #define QAUTOTUNE_ENABLED HAL_QUADPLANE_ENABLED
  12 #endif
  13
  14 #if QAUTOTUNE_ENABLED
  15
  16 #include <AC_AutoTune/AC_AutoTune_Multi.h>
  17
  18 class QAutoTune : public AC_AutoTune_Multi
  19 {
  20 public:
  21     friend class QuadPlane;
  22
  23     bool init() override;
  24
  25 protected:
  26     float get_pilot_desired_climb_rate_cms(void) const override;
  27     void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
  28     void init_z_limits() override;
  29 #if HAL_LOGGING_ENABLED
  30     void log_pids() override;
  31 #endif
  32 };
  33
  34 #endif // QAUTOTUNE_ENABLED