Quicktune C++ conversion (WIP)

ArduCopter/Copter.cpp

@@ -259,6 +259,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune,       40, 100, 171),
+#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -807,6 +810,18 @@ void Copter::update_altitude()
 #endif
 }
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Copter::update_quicktune(void)
+{
+    quicktune.update(flightmode->supports_quicktune());
+}
+#endif
+
 // vehicle specific waypoint info helpers
 bool Copter::get_wp_distance_m(float &distance) const
 {

ArduCopter/Copter.h

@@ -72,6 +72,7 @@
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_Winch/AP_Winch_config.h>
 #include <AP_SurfaceDistance/AP_SurfaceDistance.h>
+#include <AP_Quicktune/AP_Quicktune.h>
 
 // Configuration
 #include "defines.h"
@@ -83,6 +84,12 @@
  #define MOTOR_CLASS AP_MotorsMulticopter
 #endif
 
+#if FRAME_CONFIG == HELI_FRAME
+// force quicktune off in heli until it has had testing
+#undef AP_QUICKTUNE_ENABLED
+#define AP_QUICKTUNE_ENABLED 0
+#endif
+
 #if MODE_AUTOROTATE_ENABLED == ENABLED
  #include <AC_Autorotation/AC_Autorotation.h> // Autorotation controllers
 #endif
@@ -487,6 +494,10 @@ class Copter : public AP_Vehicle {
     AC_Circle *circle_nav;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    AP_Quicktune quicktune;
+#endif
+
     // System Timers
     // --------------
     // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.
@@ -715,6 +726,9 @@ class Copter : public AP_Vehicle {
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
     bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
 
     // Attitude.cpp
     void update_throttle_hover();

ArduCopter/Parameters.cpp

@@ -493,6 +493,12 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECTPTR(circle_nav, "CIRCLE_",  AC_Circle),
 #endif
 
+#if AP_QUICKTUNE_ENABLED == ENABLED
+    // @Group: QUIK_
+    // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
+    GOBJECT(quicktune, "QUIK_",  AP_Quicktune),
+#endif
+
     // @Group: ATC_
     // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
     GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),

ArduCopter/Parameters.h

@@ -202,6 +202,7 @@ class Parameters {
         k_param_circle_nav,
         k_param_loiter_nav,     // 105
         k_param_custom_control,
+        k_param_quicktune,
 
         // 110: Telemetry control
         //

ArduCopter/RC_Channel.cpp

@@ -110,6 +110,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::ARMDISARM_AIRMODE:
     case AUX_FUNC::TURBINE_START:
     case AUX_FUNC::FLIGHTMODE_PAUSE:
+    case AUX_FUNC::QUICKTUNE:
         break;
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
@@ -657,6 +658,12 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         // do nothing, used in tuning.cpp for transmitter based tuning
         break;
 
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
+        copter.quicktune.update_switch_pos(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduCopter/mode.h

@@ -194,6 +194,11 @@ class Mode {
     virtual bool allows_weathervaning() const { return false; }
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    // does this mode support VTOL quicktune?
+    virtual bool supports_quicktune() const { return false; }
+#endif
+
 protected:
 
     // helper functions
@@ -483,6 +488,10 @@ class ModeAltHold : public Mode {
     const char *name() const override { return "ALT_HOLD"; }
     const char *name4() const override { return "ALTH"; }
 
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
+
 private:
 
 };
@@ -1277,6 +1286,10 @@ class ModeLoiter : public Mode {
     void precision_loiter_xy();
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
+
 private:
 
 #if AC_PRECLAND_ENABLED

ArduCopter/wscript

@@ -27,7 +27,8 @@ def build(bld):
             'AP_Devo_Telem',
             'AC_AutoTune',
             'AP_KDECAN',
-            'AP_SurfaceDistance'
+            'AP_SurfaceDistance',
+            'AP_Quicktune',
         ],
     )
 

ArduPlane/ArduPlane.cpp

@@ -139,6 +139,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(precland_update, 400, 50, 160),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune, 40, 100, 163),
+#endif
 };
 
 void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -989,4 +992,16 @@ void Plane::precland_update(void)
 }
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Plane::update_quicktune(void)
+{
+    quicktune.update(control_mode->supports_quicktune());
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);

ArduPlane/Parameters.cpp

@@ -1023,6 +1023,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
+#if AP_QUICKTUNE_ENABLED == ENABLED
+    // @Group: QUIK_
+    // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
+    GOBJECT(quicktune, "QUIK_",  AP_Quicktune),
+#endif
+
     AP_VAREND
 };
 

ArduPlane/Parameters.h

@@ -359,6 +359,7 @@ class Parameters {
         k_param_autotune_options,
         k_param_takeoff_throttle_min,
         k_param_takeoff_options,
+        k_param_quicktune,
     };
 
     AP_Int16 format_version;

ArduPlane/Plane.h

@@ -86,6 +86,7 @@
 #if AP_EXTERNAL_CONTROL_ENABLED
 #include "AP_ExternalControl_Plane.h"
 #endif
+#include <AP_Quicktune/AP_Quicktune.h>
 
 #include <AC_PrecLand/AC_PrecLand_config.h>
 #if AC_PRECLAND_ENABLED
@@ -319,6 +320,10 @@ class Plane : public AP_Vehicle {
     ModeThermal mode_thermal;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    AP_Quicktune quicktune;
+#endif
+
     // This is the state of the flight control system
     // There are multiple states defined such as MANUAL, FBW-A, AUTO
     Mode *control_mode = &mode_initializing;
@@ -856,6 +861,10 @@ class Plane : public AP_Vehicle {
     static const TerrainLookupTable Terrain_lookup[];
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
+
     // Attitude.cpp
     void adjust_nav_pitch_throttle(void);
     void update_load_factor(void);

ArduPlane/RC_Channel.cpp

@@ -175,6 +175,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
 #if QAUTOTUNE_ENABLED
     case AUX_FUNC::AUTOTUNE_TEST_GAINS:
 #endif
+    case AUX_FUNC::QUICKTUNE:
         break;
 
     case AUX_FUNC::SOARING:
@@ -456,6 +457,12 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         break;
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    case AUX_FUNC::QUICKTUNE:
+        plane.quicktune.update_switch_pos(ch_flag);
+        break;
+#endif
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduPlane/RC_Channel.h

@@ -30,7 +30,6 @@ class RC_Channel_Plane : public RC_Channel
     void do_aux_function_soaring_3pos(AuxSwitchPos ch_flag);
 
     void do_aux_function_flare(AuxSwitchPos ch_flag);
-
 };
 
 class RC_Channels_Plane : public RC_Channels

ArduPlane/mode.h

@@ -9,6 +9,7 @@
 #include "quadplane.h"
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Mission/AP_Mission.h>
+#include <AP_Quicktune/AP_Quicktune.h>
 
 class AC_PosControl;
 class AC_AttitudeControl_Multi;
@@ -141,6 +142,11 @@ class Mode
     // true if voltage correction should be applied to throttle
     virtual bool use_battery_compensation() const;
 
+#if AP_QUICKTUNE_ENABLED
+    // does this mode support VTOL quicktune?
+    virtual bool supports_quicktune() const { return false; }
+#endif
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -312,6 +318,9 @@ class ModeGuided : public Mode
 
     bool _enter() override;
     bool _pre_arm_checks(size_t buflen, char *buffer) const override { return true; }
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 
 private:
     float active_radius_m;
@@ -649,6 +658,9 @@ class ModeQHover : public Mode
 protected:
 
     bool _enter() override;
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 };
 
 class ModeQLoiter : public Mode
@@ -675,6 +687,10 @@ friend class Plane;
 
     bool _enter() override;
     uint32_t last_target_loc_set_ms;
+
+#if AP_QUICKTUNE_ENABLED
+    bool supports_quicktune() const override { return true; }
+#endif
 };
 
 class ModeQLand : public Mode

ArduPlane/wscript

@@ -27,6 +27,7 @@ def build(bld):
             'AP_Follow',
             'AC_PrecLand',
             'AP_IRLock',
+            'AP_Quicktune',
         ],
     )