I’m working on customizing the AutoTune logic in ArduPlane. Specifically, I want to change the AutoTuned parameters.
I looked at AP_AutoTune.cpp and AP_AutoTune.h files but I did not see the names of the parameters there. Could someone point me to the relevant source file(s) where the tuning updates are applied to the PID parameters?
Any guidance or references would be greatly appreciated! Thanks in advance.