Hello there guys,
I have a quadcopter who has been developing a rather strange issue where ATC_INPUT_TC parameter has been changing it’s value from one boot to the other, changes the value from ATC_INPUT_TC = 0.34 to ATC_INPUT_TC = -1, a negative value!
I’m not the one who personally flies it so I’m trying to understand what’s going on. The pilot uses QGroundControl 4.3 and from his information no tunning parameters where changed by him.
I’ve looked into the code and figured out that there is a LOG_PARAMTUNE_MSG that is logged in the Copter code under the tag PRTN, but I can’t find this messages on the log files.
In the Onboard Copter Log Messages page it states “Plane Parameter Tuning data” so at first I thought is was only a Plane msg but it is referenced on the Copter code
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
float tuning_min; // tuning minimum value
float tuning_max; // tuning maximum value
};
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max)
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_us : AP_HAL::micros64(),
parameter : param,
tuning_value : tuning_val,
tuning_min : tune_min,
tuning_max : tune_max
};
logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
}
I also checked in the LOG_BITMASK and don’t appear to be an option to enable/disable this log message.
Can you give me some guidance on this issue?
Thank you in advance for everything.