/*
called when we change state to see if we should change gains
*/
void AP_AutoTune::stop(void)
{
if (running) {
running = false;
save_gains(restore);
}
}
/*
see if we should save new values
*/
void AP_AutoTune::check_save(void)
{
if (AP_HAL::millis() - last_save_ms < AUTOTUNE_SAVE_PERIOD) {
return;
}
// save the next_save values, which are the autotune value from
// the last save period. This means the pilot has
// AUTOTUNE_SAVE_PERIOD milliseconds to decide they don't like the
// gains and switch out of autotune
ATGains tmp = current;
save_gains(next_save);
Debug("SAVE P -> %.3f\n", current.P.get());
// restore our current gains
current = tmp;
// if the pilot exits autotune they get these saved values
restore = next_save;
// the next values to save will be the ones we are flying now
next_save = current;
last_save_ms = AP_HAL::millis();
}
void config_save(void)
{
save_yawCntrl();
save_rollCntrl();
save_pitchCntrl();
// save_navigation();
// save_airspeedCntrl();
#if (ALTITUDE_GAINS_VARIABLE == 1)
save_altitudeCntrlVariable();
#else
save_altitudeCntrl();
#endif
save_settings();
save_gains();
}
void save_config(void)
{
#if (USE_CONFIGFILE == 1)
save_yawCntrl();
save_rollCntrl();
save_pitchCntrl();
// save_navigation();
// save_airspeedCntrl();
#if (ALTITUDE_GAINS_VARIABLE == 1)
save_altitudeCntrlVariable();
#else
save_altitudeCntrl();
#endif
save_settings();
save_gains();
#endif // USE_CONFIGFILE
}
