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Cloning Instructions (tested on Linux):
It is assumed that you have a working development environment:
git clone https://bitbucket.org/TheOtherCliff/librepilot.git autotune
cd autotune
git checkout theothercliff/LP-76_Port_Autotune_from_dRonin
git checkout theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code
make build_sdk_install (I avoid this by sym linking my global downloads and tools directories into this directory, so whatever you need to do for downloads and tools)
nice nice -n15 n15 make -j4 gcs revolution revonano (the 4 is however many real CPU cores you have to keep all of them busy, it still works even if it is wrong) (gcs might take 30 minutes to build) (or remove 'nice -n15' which says to run it at low priority in case you want to do something else with the computer while it is making the software)
./build/librepilot-gcs_release/bin/librepilot-gcs (runs the GCS that you just built) (in Linux that is ./b <tab> l (lower case L) <tab> b <tab> <tab>)
Updating an old clone (tested on Linux):
This branch has recently been rebased onto next and uploaded with push -f. That means you will have problems if you originally started from the version before the rebase. One easy way around that is to delete the old directory and clone again, but that means you will re-download the whole thing again. Another way (assumes origin is https://bitbucket.org/TheOtherCliff/librepilot.git) is to:
git merge git merge --abort
git checkout git checkout origin/next
git branch git branch -D D theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code
git fetch git fetch origin
git checkout git checkout -t t origin/theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code
make make all_clean
make build_sdk_install (I avoid this by sym linking my global downloads and tools directories into this directory, so whatever you need to do for downloads and tools)
nice nice -n15 n15 make -j4 gcs revolution revonano (the 4 is however many real CPU cores you have to keep all of them busy, it still works even if it is wrong) (gcs might take 30 minutes to build) (or remove 'nice -n15' which says to run it at low priority in case you want to do something else with the computer while it is making the software)
./build/librepilot-gcs_release/bin/librepilot-gcs (runs the GCS that you just built) (in Linux that is ./b <tab> l (lower case L) <tab> b <tab> <tab>)
The instructions above are written with two spaces between each word for clarity. They work just as well with only one space.
With GCS running and firmware built, go to the Firmware page, press Halt. Wait about 15 seconds for the Flash button to appear. Also, it should automatically select firmware that matches your flight controller. Press Flash. You will also have to erase settings and run the setup wizard again. With that complete, you need to do your calibrations before anything else.
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DataObjects.SystemIdentState
- Is not stored permanently (Goes away when power is removed)
- Is logged
- HoverThrottle is the average throttle used during tuning. It is a reasonable value to use in Settings.AltitudeHoldSettings.ThrustLimits.Neutral although it is usually a little smaller than it should be due to throttle bloom during shaking.
- The 3 values in Noise tell you how much vibration you have on the 3 axes. Normal values range from about 100 to about 1000. For high values, or jittery response to the PIDs created, you may want to increase Settings.StabilizationSettings.GyroTau (found in the GCS GUI at Configuration -> Stabilization -> Expert -> GyroNoiseFiltering) and retune. Now you know how much vibration you actually have.
- Contains fields that may be useful if debugging problems with AutoTune
- Contains copies of some fields from System.SystemIdentSettings
iMac-di-Paolo:autotune340 paolo$ git merge --abort
iMac-di-Paolo:autotune340 paolo$ git checkout next
Switched to branch 'next'
Your branch is behind 'origin/next' by 255 commits, and can be fast-forwarded.
(use "git pull" to update your local branch)
iMac-di-Paolo:autotune340 paolo$ git branch -D theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code
Deleted branch theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code (was b5890b9).
iMac-di-Paolo:autotune340 paolo$ git fetch origin
iMac-di-Paolo:autotune340 paolo$ git checkout -t origin/theothercliff/LP-340_AutoTune_fix_some_time_measurement_issues_in_original_code
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