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Add options to prevent spamming Tuning Error messsages when not actually tuning or desired #18609

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merged 2 commits into from Sep 20, 2021
Merged

Add options to prevent spamming Tuning Error messsages when not actually tuning or desired #18609

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16c3f81
AC_AttitudeControl: add options to prevent spamming tuning error mess…
Hwurzburg Sep 8, 2021
3ed6d5a
AP_Tuning: add options to prevent spamming tuning error messages
Hwurzburg Sep 8, 2021
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2 changes: 1 addition & 1 deletion libraries/AC_AttitudeControl/ControlMonitor.cpp
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Expand Up @@ -29,7 +29,7 @@ void AC_AttitudeControl::control_monitor_update(void)
control_monitor_filter_pid(iroll.D, _control_monitor.rms_roll_D);

const AP_Logger::PID_Info &ipitch = get_rate_pitch_pid().get_pid_info();
control_monitor_filter_pid(ipitch.P + iroll.FF, _control_monitor.rms_pitch_P);
control_monitor_filter_pid(ipitch.P + ipitch.FF, _control_monitor.rms_pitch_P);
control_monitor_filter_pid(ipitch.D, _control_monitor.rms_pitch_D);

const AP_Logger::PID_Info &iyaw = get_rate_yaw_pid().get_pid_info();
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4 changes: 2 additions & 2 deletions libraries/AP_Tuning/AP_Tuning.cpp
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Expand Up @@ -49,7 +49,7 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {

// @Param: ERR_THRESH
// @DisplayName: Controller error threshold
// @Description: This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability
// @Description: This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message.
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Do we really sound an alarm?!

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do not know...dont have buzzers on my planes....

// @Range: 0 1
// @User: Standard
AP_GROUPINFO("ERR_THRESH", 7, AP_Tuning, error_threshold, 0.15f),
Expand Down Expand Up @@ -342,7 +342,7 @@ const char *AP_Tuning::get_tuning_name(uint8_t parm)
void AP_Tuning::check_controller_error(void)
{
float err = controller_error(current_parm);
if (err > error_threshold) {
if (err > error_threshold && !mid_point_wait && error_threshold > 0) {
uint32_t now = AP_HAL::millis();
if (now - last_controller_error_ms > 2000 && hal.util->get_soft_armed()) {
AP_Notify::events.tune_error = 1;
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