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autotune: enable autotune in mission mode

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When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.
This commit is contained in:
mahima-yoga
2025-12-05 14:03:10 +01:00
committed by Mahima Yoga
parent a7de5d176f
commit ca83b8330d
16 changed files with 112 additions and 93 deletions
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src/modules/navigator/navigator_main.cpp
+15
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@@ -759,6 +759,21 @@ void Navigator::run()
reset_cruising_speed();
set_cruising_throttle();
}
else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_AUTOTUNE_ENABLE) {
if (fabsf(cmd.param1 - 1.f) > FLT_EPSILON) {
// only support enabling autotune (consistent with autotune module)
events::send(events::ID("navigator_autotune_unsupported_input"), {events::Log::Warning, events::LogInternal::Warning},
"Provided autotune command is not supported. To enable autotune in mission, set param1 to 1");
} else if (fabsf(cmd.param2) > FLT_EPSILON) {
// warn user about axis selection
events::send(events::ID("navigator_autotune_unsupported_ax"), {events::Log::Warning, events::LogInternal::Info},
"Autotune axis selection not supported through Mission. Use FW_AT_AXES to set axes for fixed-wing vehicles");
}
}
}
#if CONFIG_NAVIGATOR_ADSB