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AC_AutoTune: (heli-only) Rename and remove some variables #27441

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merged 2 commits into from
Jul 4, 2024
Merged

AC_AutoTune: (heli-only) Rename and remove some variables #27441

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64ef30a
AC_AutoTune: adjust variable names to include _cd postfix
peterbarker Jul 3, 2024
2d5ec76
AC_AutoTune: remove unused variables
peterbarker Jul 3, 2024
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12 changes: 6 additions & 6 deletions libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -822,8 +822,8 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
filt_att_fdbk_from_velxy_cd.apply(att_fdbk, AP::scheduler().get_loop_period_s());
} else {
target_angle_cd = 0.0f;
trim_yaw_tgt_reading = (float)attitude_control->get_att_target_euler_cd().z;
trim_yaw_heading_reading = (float)ahrs_view->yaw_sensor;
trim_yaw_tgt_reading_cd = (float)attitude_control->get_att_target_euler_cd().z;
trim_yaw_heading_reading_cd = (float)ahrs_view->yaw_sensor;
dwell_start_time_ms = now;
filt_att_fdbk_from_velxy_cd.reset(Vector2f(0.0f,0.0f));
settle_time--;
Expand Down Expand Up @@ -865,17 +865,17 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
break;
case YAW:
case YAW_D:
attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false);
attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading_cd + target_angle_cd), false);
command_reading = motors->get_yaw();
if (test_calc_type == DRB) {
tgt_rate_reading = radians(target_angle_cd * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading - target_angle_cd)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd - target_angle_cd)) * 0.01f);
} else if (test_calc_type == RATE) {
tgt_rate_reading = attitude_control->rate_bf_targets().z;
gyro_reading = ahrs_view->get_gyro().z;
} else {
tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading)) * 0.01f);
tgt_rate_reading = radians((wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading_cd)) * 0.01f);
gyro_reading = radians((wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading_cd)) * 0.01f);
}
break;
}
Expand Down
10 changes: 2 additions & 8 deletions libraries/AC_AutoTune/AC_AutoTune_Heli.h
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Original file line number Diff line number Diff line change
Expand Up @@ -263,21 +263,15 @@ class AC_AutoTune_Heli : public AC_AutoTune
uint32_t settle_time; // time in ms for allowing aircraft to stabilize before initiating test
float trim_meas_rate; // trim measured gyro rate

//variables from rate FF test
float trim_command_reading;
float trim_heading;

// variables from dwell test
LowPassFilterVector2f filt_att_fdbk_from_velxy_cd;
LowPassFilterFloat filt_command_reading; // filtered command reading to keep oscillation centered
LowPassFilterFloat filt_gyro_reading; // filtered gyro reading to keep oscillation centered
LowPassFilterFloat filt_tgt_rate_reading; // filtered target rate reading to keep oscillation centered

// trim variables for determining trim state prior to test starting
Vector3f trim_attitude_cd; // trim attitude before starting test
float trim_command; // trim target yaw reading before starting test
float trim_yaw_tgt_reading; // trim target yaw reading before starting test
float trim_yaw_heading_reading; // trim heading reading before starting test
float trim_yaw_tgt_reading_cd; // trim target yaw reading before starting test
float trim_yaw_heading_reading_cd; // trim heading reading before starting test

LowPassFilterFloat command_filt; // filtered command - filtering intended to remove noise
LowPassFilterFloat target_rate_filt; // filtered target rate in radians/second - filtering intended to remove noise
Expand Down
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