AP_Tuning_Plane: Added PIDFF tuning sets

ArduPilot · Dec 10, 2024 · 1f7a17f · 1f7a17f
1 parent a66735e
commit 1f7a17f
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/ArduPlane/tuning.cpp b/ArduPlane/tuning.cpp
@@ -37,6 +37,9 @@ const uint8_t AP_Tuning_Plane::tuning_set_az[] =               { TUNING_AZ_P, TU
 const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]=      { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P };
 const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]=       { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P };
 const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]=        { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P };
+const uint8_t AP_Tuning_Plane::tuning_set_dp_roll_pitch[] =    { TUNING_RLL_D, TUNING_RLL_P, TUNING_PIT_D, TUNING_PIT_P };
+const uint8_t AP_Tuning_Plane::tuning_set_pidff_roll[] =       { TUNING_RLL_P, TUNING_RLL_I, TUNING_RLL_D, TUNING_RLL_FF };
+const uint8_t AP_Tuning_Plane::tuning_set_pidff_pitch[] =      { TUNING_PIT_P, TUNING_PIT_I, TUNING_PIT_D, TUNING_PIT_FF };
 
 // macro to prevent getting the array length wrong
 #define TUNING_ARRAY(v) ARRAY_SIZE(v), v
@@ -53,6 +56,9 @@ const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
     { TUNING_SET_RATE_PITCHDP,          TUNING_ARRAY(tuning_set_rate_pitchDP) },
     { TUNING_SET_RATE_ROLLDP,           TUNING_ARRAY(tuning_set_rate_rollDP) },
     { TUNING_SET_RATE_YAWDP,            TUNING_ARRAY(tuning_set_rate_yawDP) },
+    { TUNING_SET_DP_ROLL_PITCH,         TUNING_ARRAY(tuning_set_dp_roll_pitch) },
+    { TUNING_SET_PIDFF_ROLL,            TUNING_ARRAY(tuning_set_pidff_roll) },
+    { TUNING_SET_PIDFF_PITCH,           TUNING_ARRAY(tuning_set_pidff_pitch) },
     { 0, 0, nullptr }
 };
 

diff --git a/ArduPlane/tuning.h b/ArduPlane/tuning.h
@@ -94,6 +94,9 @@ class AP_Tuning_Plane : public AP_Tuning
         TUNING_SET_RATE_PITCHDP =            8,
         TUNING_SET_RATE_ROLLDP =             9,
         TUNING_SET_RATE_YAWDP =             10,
+        TUNING_SET_DP_ROLL_PITCH =          11,
+        TUNING_SET_PIDFF_ROLL =             12,
+        TUNING_SET_PIDFF_PITCH =            13,
     };
 
     AP_Float *get_param_pointer(uint8_t parm) override;
@@ -112,6 +115,9 @@ class AP_Tuning_Plane : public AP_Tuning
     static const uint8_t tuning_set_rate_pitchDP[];
     static const uint8_t tuning_set_rate_rollDP[];
     static const uint8_t tuning_set_rate_yawDP[];
+    static const uint8_t tuning_set_dp_roll_pitch[];
+    static const uint8_t tuning_set_pidff_roll[];
+    static const uint8_t tuning_set_pidff_pitch[];
 
     // mask of what params have been set
     uint64_t have_set;