autotune: automatically set trim airspeed based on FW_AIRSPD_TRIM param

Author: bresch

autotune/autotune.py

@@ -698,6 +698,11 @@ def loadLog(self):
                 self.u = self.input
                 self.y = select.y
                 self.true_airspeed = select.v
+                trim_airspeed = select.getTrimAirspeed()
+
+                if trim_airspeed is not None:
+                    self.line_edit_trim.setValue(trim_airspeed)
+
                 self.refreshInputOutputData()
                 self.runIdentification()
                 self.computeController()

autotune/data_extractor.py

@@ -70,6 +70,13 @@ def getPreview(self, field_def):
 
         return (t_data, data)
 
+    def getTrimAirspeed(self):
+        params = self.log.initial_parameters
+        if 'FW_AIRSPD_TRIM' in params:
+            return params['FW_AIRSPD_TRIM']
+        else:
+            return None
+
     def getData(self, field_def):
         data = get_data(self.log, field_def.topic_name, field_def.variable_name, field_def.instance)
         t_data = us2s(get_data(self.log, field_def.topic_name, 'timestamp', field_def.instance))

autotune/data_selection_window.py

@@ -180,6 +180,9 @@ def selectYData(self, index):
         (self.t, self.y) = self.data_extractor.getPreview(self.topics[index])
         self.plotY()
 
+    def getTrimAirspeed(self):
+        return self.data_extractor.getTrimAirspeed()
+
     def initPlot(self):
         if self.input_ref is None:
             self.figure.clear()