AC_AutoTune: add support for testing tune via aux function

ArduPilot · Aug 6, 2024 · 25771dd · 25771dd
1 parent a6127c5
commit 25771dd
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Showing 2 changed files with 77 additions and 8 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -109,6 +109,51 @@ void AC_AutoTune::stop()
     // we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
 }
 
+// Autotune aux function trigger
+void AC_AutoTune::do_aux_function(const RC_Channel::AuxSwitchPos ch_flag)
+{
+    if (mode != TuneMode::SUCCESS) {
+        if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
+            gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: must be complete to test gains");
+        }
+        return;
+    }
+
+    switch(ch_flag) {
+        case RC_Channel::AuxSwitchPos::LOW:
+            // load original gains
+            load_gains(GainType::GAIN_ORIGINAL);
+            update_gcs(AUTOTUNE_MESSAGE_TESTING_END);
+            break;
+        case RC_Channel::AuxSwitchPos::MIDDLE:
+            // Middle position is unused for now
+            break;
+        case RC_Channel::AuxSwitchPos::HIGH:
+            // Load tuned gains
+            load_gains(GainType::GAIN_TUNED);
+            update_gcs(AUTOTUNE_MESSAGE_TESTING);
+            break;
+    }
+
+    have_pilot_testing_command = true;
+}
+
+// Possibly save gains, called on disarm
+void AC_AutoTune::disarmed(const bool in_autotune_mode)
+{
+    // True if pilot is testing tuned gains
+    const bool testing_tuned = have_pilot_testing_command && (loaded_gains == GainType::GAIN_TUNED);
+
+    // True if in autotune mode and no pilot testing commands have been received
+    const bool tune_complete_no_testing = !have_pilot_testing_command && in_autotune_mode;
+
+    if (tune_complete_no_testing || testing_tuned) {
+        save_tuning_gains();
+    } else {
+        reset();
+    }
+}
+
 // initialise position controller
 bool AC_AutoTune::init_position_controller(void)
 {
@@ -524,6 +569,9 @@ void AC_AutoTune::control_attitude()
                     update_gcs(AUTOTUNE_MESSAGE_SUCCESS);
                     LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_SUCCESS);
                     AP_Notify::events.autotune_complete = true;
+
+                    // Return to original gains for landing
+                    load_gains(GainType::GAIN_ORIGINAL);
                 } else {
                     AP_Notify::events.autotune_next_axis = true;
                     reset_update_gain_variables();
@@ -590,7 +638,12 @@ void AC_AutoTune::backup_gains_and_initialise()
  */
 void AC_AutoTune::load_gains(enum GainType gain_type)
 {
-    // todo: add previous setting so gains are not loaded on each loop.
+    if (loaded_gains == gain_type) {
+        // Loaded gains are already of correct type
+        return;
+    }
+    loaded_gains = gain_type;
+
     switch (gain_type) {
     case GAIN_ORIGINAL:
         load_orig_gains();
@@ -624,15 +677,17 @@ void AC_AutoTune::update_gcs(uint8_t message_id) const
         gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
         break;
     case AUTOTUNE_MESSAGE_TESTING:
-        gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Pilot Testing");
-        break;
     case AUTOTUNE_MESSAGE_SAVED_GAINS:
-        gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: Saved gains for %s%s%s%s",
+        gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: %s gains for %s%s%s%s",
+                        (message_id == AUTOTUNE_MESSAGE_SAVED_GAINS) ? "Saved" : "Pilot Testing",
                         (axes_completed&AUTOTUNE_AXIS_BITMASK_ROLL)?"Roll ":"",
                         (axes_completed&AUTOTUNE_AXIS_BITMASK_PITCH)?"Pitch ":"",
                         (axes_completed&AUTOTUNE_AXIS_BITMASK_YAW)?"Yaw(E)":"",
                         (axes_completed&AUTOTUNE_AXIS_BITMASK_YAW_D)?"Yaw(D)":"");
         break;
+    case AUTOTUNE_MESSAGE_TESTING_END:
+        gcs().send_text(MAV_SEVERITY_NOTICE,"AutoTune: original gains restored");
+        break;
     }
 }
 

diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -25,6 +25,7 @@
 #include <AC_AttitudeControl/AC_AttitudeControl.h>
 #include <AC_AttitudeControl/AC_PosControl.h>
 #include <AP_Math/AP_Math.h>
+#include <RC_Channel/RC_Channel.h>
 #include "AC_AutoTune_FreqResp.h"
 
 #define AUTOTUNE_AXIS_BITMASK_ROLL            1
@@ -41,6 +42,7 @@
 #define AUTOTUNE_MESSAGE_FAILED 3
 #define AUTOTUNE_MESSAGE_SAVED_GAINS 4
 #define AUTOTUNE_MESSAGE_TESTING 5
+#define AUTOTUNE_MESSAGE_TESTING_END 6
 
 #define AUTOTUNE_ANNOUNCE_INTERVAL_MS 2000
 
@@ -53,19 +55,27 @@ class AC_AutoTune
     // main run loop
     virtual void run();
 
-    // save gained, called on disarm
-    virtual void save_tuning_gains() = 0;
+    // Possibly save gains, called on disarm
+    void disarmed(const bool in_autotune_mode);
 
     // stop tune, reverting gains
     void stop();
 
+    // Autotune aux function trigger
+    void do_aux_function(const RC_Channel::AuxSwitchPos ch_flag);
+
+protected:
+
+    virtual void save_tuning_gains() = 0;
+
+
     // reset Autotune so that gains are not saved again and autotune can be run again.
     void reset() {
         mode = UNINITIALISED;
         axes_completed = 0;
+        have_pilot_testing_command = false;
     }
 
-protected:
     // axis that can be tuned
     enum class AxisType {
         ROLL = 0,                 // roll axis is being tuned (either angle or rate)
@@ -237,7 +247,7 @@ class AC_AutoTune
         GAIN_TEST       = 1,
         GAIN_INTRA_TEST = 2,
         GAIN_TUNED      = 3,
-    };
+    } loaded_gains;
     void load_gains(enum GainType gain_type);
 
     // autotune modes (high level states)
@@ -338,6 +348,10 @@ class AC_AutoTune
     // time in ms of last pilot override warning
     uint32_t last_pilot_override_warning;
 
+    // True if we ever got a pilot testing command of tuned gains.
+    // If true then disarming will save if the tuned gains are currently active.
+    bool have_pilot_testing_command;
+
 };
 
 #endif  // AC_AUTOTUNE_ENABLED