C++ (Cpp) autotune_save_tuning_gains Exemples

Exemple #1

Fichier : motors.cpp Projet : hiroyuki405/ardupilot

// init_disarm_motors - disarm motors
void Copter::init_disarm_motors()
{
    // return immediately if we are already disarmed
    if (!motors.armed()) {
        return;
    }

#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
    gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif

    // save compass offsets learned by the EKF if enabled
    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
        for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
            Vector3f magOffsets;
            if (ahrs.getMagOffsets(i, magOffsets)) {
                compass.set_and_save_offsets(i, magOffsets);
            }
        }
    }

#if AUTOTUNE_ENABLED == ENABLED
    // save auto tuned parameters
    autotune_save_tuning_gains();
#endif

    // we are not in the air
    set_land_complete(true);
    set_land_complete_maybe(true);

    // log disarm to the dataflash
    Log_Write_Event(DATA_DISARMED);

    // send disarm command to motors
    motors.armed(false);

    // reset the mission
    mission.reset();

    // suspend logging
    if (!DataFlash.log_while_disarmed()) {
        DataFlash.EnableWrites(false);
    }
    DataFlash_Class::instance()->set_vehicle_armed(false);

    // disable gps velocity based centrefugal force compensation
    ahrs.set_correct_centrifugal(false);
    hal.util->set_soft_armed(false);

    ap.in_arming_delay = false;
}

Exemple #2

Fichier : motors.cpp Projet : JunHwanHuh/MNC-Bachelor-2015-Dontbe

// init_disarm_motors - disarm motors
void Copter::init_disarm_motors()
{
    // return immediately if we are already disarmed
    if (!motors.armed()) {
        return;
    }

#if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL
    gcs_send_text(MAV_SEVERITY_INFO, "DISARMING MOTORS");
#endif

    // save compass offsets learned by the EKF
    Vector3f magOffsets;
    if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
        compass.set_and_save_offsets(compass.get_primary(), magOffsets);
    }

#if AUTOTUNE_ENABLED == ENABLED
    // save auto tuned parameters
    autotune_save_tuning_gains();
#endif

    // we are not in the air
    set_land_complete(true);
    set_land_complete_maybe(true);

    // log disarm to the dataflash
    Log_Write_Event(DATA_DISARMED);

    // send disarm command to motors
    motors.armed(false);

    // reset the mission
    mission.reset();

    // suspend logging
    if (!(g.log_bitmask & MASK_LOG_WHEN_DISARMED)) {
        DataFlash.EnableWrites(false);
    }

    // disable gps velocity based centrefugal force compensation
    ahrs.set_correct_centrifugal(false);
    hal.util->set_soft_armed(false);
}