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APM_Control: Plane controllers: only autotune if not in assisted flight #21732

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APM_Control: Plane controllers: only autotune if not in assisted flight #21732

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11 changes: 10 additions & 1 deletion libraries/APM_Control/AP_PitchController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@
#include "AP_PitchController.h"
#include <AP_AHRS/AP_AHRS.h>

#include <../ArduPlane/quadplane.h>

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_PitchController::var_info[] = {
Expand Down Expand Up @@ -207,7 +209,14 @@ float AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool d
// remember the last output to trigger the I limit
_last_out = out;

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
// Only run autotune if in un-assisted forward flight
#if HAL_QUADPLANE_ENABLED
const bool assisted_flight = QuadPlane::get_singleton()->in_assisted_flight();
#else
const bool assisted_flight = false;
#endif

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min && !assisted_flight) {
// let autotune have a go at the values
autotune->update(pinfo, scaler, angle_err_deg);
}
Expand Down
11 changes: 10 additions & 1 deletion libraries/APM_Control/AP_RollController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@
#include "AP_RollController.h"
#include <AP_AHRS/AP_AHRS.h>

#include <../ArduPlane/quadplane.h>

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_RollController::var_info[] = {
Expand Down Expand Up @@ -195,7 +197,14 @@ float AP_RollController::_get_rate_out(float desired_rate, float scaler, bool di
// remember the last output to trigger the I limit
_last_out = out;

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
// Only run autotune if in un-assisted forward flight
#if HAL_QUADPLANE_ENABLED
const bool assisted_flight = QuadPlane::get_singleton()->in_assisted_flight();
#else
const bool assisted_flight = false;
#endif

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min && !assisted_flight) {
// let autotune have a go at the values
autotune->update(pinfo, scaler, angle_err_deg);
}
Expand Down
11 changes: 10 additions & 1 deletion libraries/APM_Control/AP_YawController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@
#include "AP_YawController.h"
#include <AP_AHRS/AP_AHRS.h>

#include <../ArduPlane/quadplane.h>

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AP_YawController::var_info[] = {
Expand Down Expand Up @@ -330,7 +332,14 @@ float AP_YawController::get_rate_out(float desired_rate, float scaler, bool disa
// remember the last output to trigger the I limit
_last_out = out;

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min) {
// Only run autotune if in un-assisted forward flight
#if HAL_QUADPLANE_ENABLED
const bool assisted_flight = QuadPlane::get_singleton()->in_assisted_flight();
#else
const bool assisted_flight = false;
#endif

if (autotune != nullptr && autotune->running && aspeed > aparm.airspeed_min && !assisted_flight) {
// fake up an angular error based on a notional time constant of 0.5s
const float angle_err_deg = desired_rate * gains.tau;
// let autotune have a go at the values
Expand Down