Copter: Autotune: Small changes for clarity

squash clean up
ArduPilot · Feb 19, 2024 · 0157658 · 0157658
1 parent 51e15a5
commit 0157658
Show file tree

Hide file tree

Showing 3 changed files with 16 additions and 16 deletions.
diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -10,18 +10,18 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
-#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS  500     // restart tuning if pilot has left sticks in middle for 2 seconds
+#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS  500         // restart tuning if pilot has left sticks in middle for 2 seconds
 #if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
- # define AUTOTUNE_LEVEL_ANGLE_CD           500     // angle which qualifies as level (Plane uses more relaxed 5deg)
- # define AUTOTUNE_LEVEL_RATE_RP_CD        1000     // rate which qualifies as level for roll and pitch (Plane uses more relaxed 10deg/sec)
+ # define AUTOTUNE_LEVEL_ANGLE_CD           500         // angle which qualifies as level (Plane uses more relaxed 5deg)
+ # define AUTOTUNE_LEVEL_RATE_RP_CD         1000        // rate which qualifies as level for roll and pitch (Plane uses more relaxed 10deg/sec)
 #else
- # define AUTOTUNE_LEVEL_ANGLE_CD           250     // angle which qualifies as level
- # define AUTOTUNE_LEVEL_RATE_RP_CD         500     // rate which qualifies as level for roll and pitch
+ # define AUTOTUNE_LEVEL_ANGLE_CD           250         // angle which qualifies as level
+ # define AUTOTUNE_LEVEL_RATE_RP_CD         500         // rate which qualifies as level for roll and pitch
 #endif
-#define AUTOTUNE_LEVEL_RATE_Y_CD            750     // rate which qualifies as level for yaw
-#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS     250     // time we require the aircraft to be level before starting next test
-#define AUTOTUNE_LEVEL_TIMEOUT_MS          2000     // time out for level
-#define AUTOTUNE_LEVEL_WARNING_INTERVAL_MS 5000     // level failure warning messages sent at this interval to users
+#define AUTOTUNE_LEVEL_RATE_Y_CD            750         // rate which qualifies as level for yaw
+#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS     250         // time we require the aircraft to be level before starting next test
+#define AUTOTUNE_LEVEL_TIMEOUT_MS           2000        // time out for level
+#define AUTOTUNE_LEVEL_WARNING_INTERVAL_MS  5000        // level failure warning messages sent at this interval to users
 #define AUTOTUNE_ANGLE_MAX_RLLPIT_SCALE     2.0 / 3.0   // maximum allowable angle during testing, as a fraction of angle_max
 
 AC_AutoTune::AC_AutoTune()

diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -211,8 +211,8 @@ class AC_AutoTune
         RD_DOWN = 1,              // rate D is being tuned down
         RP_UP = 2,                // rate P is being tuned up
         RFF_UP = 3,               // rate FF is being tuned up
-        SP_UP = 4,                // angle P is being tuned up
-        SP_DOWN = 5,              // angle P is being tuned down
+        SP_DOWN = 4,              // angle P is being tuned down
+        SP_UP = 5,                // angle P is being tuned up
         MAX_GAINS = 6,            // max allowable stable gains are determined
         TUNE_CHECK = 7,           // frequency sweep with tuned gains
         TUNE_COMPLETE = 8         // Reached end of tuning

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -72,7 +72,7 @@
 
 // roll and pitch axes
 #define AUTOTUNE_TARGET_RATE_RLLPIT_CDS     18000   // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
-#define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500    // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
+#define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500    // target min roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
 
 // yaw axis
 #define AUTOTUNE_TARGET_RATE_YAW_CDS        9000        // target yaw rate during AUTOTUNE_STEP_TWITCHING step
@@ -516,8 +516,8 @@ void AC_AutoTune_Multi::twitching_test_rate(float rate, float rate_target_max, f
     }
 
     // calculate early stopping time based on the time it takes to get to 75%
-    if (meas_rate_max < rate_target_max * 0.75f) {
-        // the measurement not reached the 75% threshold yet
+    if (meas_rate_max < rate_target_max * 0.6321) {
+        // the measurement not reached the 63.21% threshold yet
         step_time_limit_ms = (now - step_start_time_ms) * 3;
         step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
     }
@@ -592,8 +592,8 @@ void AC_AutoTune_Multi::twitching_test_angle(float angle, float rate, float angl
     }
 
     // calculate early stopping time based on the time it takes to get to 75%
-    if (meas_angle_max < angle_target_max * 0.75f) {
-        // the measurement not reached the 75% threshold yet
+    if (meas_angle_max < angle_target_max * 0.6321) {
+        // the measurement not reached the 63.21% threshold yet
         step_time_limit_ms = (now - step_start_time_ms) * 3;
         step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
     }