/*
set a float and save a float if it has changed by more than
0.1%. This reduces the number of insignificant EEPROM writes
*/
void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const char *suffix)
{
float old_value = v.get();
v.set(value);
if (value <= 0 || fabsf((value-old_value)/value) > 0.001f) {
v.save();
log_param_change(v.get(), suffix);
}
}
/*
reload a parameter
*/
void AP_Tuning_Plane::reload_value(uint8_t parm)
{
switch(parm) {
// special handling of dual-parameters
case TUNING_RATE_ROLL_PI:
reload_value(TUNING_RATE_ROLL_P);
reload_value(TUNING_RATE_ROLL_I);
break;
case TUNING_RATE_PITCH_PI:
reload_value(TUNING_RATE_PITCH_P);
reload_value(TUNING_RATE_PITCH_I);
break;
default:
AP_Float *f = get_param_pointer(parm);
if (f != nullptr) {
f->load();
}
break;
}
}
/*
set a parameter
*/
void AP_Tuning_Plane::set_value(uint8_t parm, float value)
{
switch(parm) {
// special handling of dual-parameters
case TUNING_RATE_ROLL_PI:
set_value(TUNING_RATE_ROLL_P, value);
set_value(TUNING_RATE_ROLL_I, value);
break;
case TUNING_RATE_PITCH_PI:
set_value(TUNING_RATE_PITCH_P, value);
set_value(TUNING_RATE_PITCH_I, value);
break;
default:
AP_Float *f = get_param_pointer(parm);
if (f != nullptr) {
f->set_and_notify(value);
}
break;
}
}
