From dc6d15bdaaa8dac649bf07118a64964a7d2ebb70 Mon Sep 17 00:00:00 2001
From: Michelle Rossouw <michelleros128@gmail.com>
Date: Mon, 22 Jul 2024 16:47:32 +1000
Subject: [PATCH] Tools: Add Quicktune

---
 Tools/ardupilotwaf/ap_library.py      |  1 +
 Tools/autotest/models/freestyle.param | 36 +++++++++------------------
 2 files changed, 13 insertions(+), 24 deletions(-)

diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py
index 9d0971c1e816f..557510a9b2f6d 100644
--- a/Tools/ardupilotwaf/ap_library.py
+++ b/Tools/ardupilotwaf/ap_library.py
@@ -174,6 +174,7 @@ class ap_library_check_headers(Task.Task):
         'libraries/AP_Scripting/lua_generated_bindings.h',
         'libraries/AP_NavEKF3/AP_NavEKF3_feature.h',
         'libraries/AP_LandingGear/AP_LandingGear_config.h',
+        'libraries/AP_Quicktune/AP_Quicktune.h',
     )
     whitelist = tuple(os.path.join(*p.split('/')) for p in whitelist)
 
diff --git a/Tools/autotest/models/freestyle.param b/Tools/autotest/models/freestyle.param
index 6ab0ddad76446..2793a4b266b2c 100644
--- a/Tools/autotest/models/freestyle.param
+++ b/Tools/autotest/models/freestyle.param
@@ -10,34 +10,11 @@ ARMING_RUDDER    0.000000
 ATC_ACCEL_P_MAX  160000.000000
 ATC_ACCEL_R_MAX  160000.000000
 ATC_ACCEL_Y_MAX  120000.000000
-ATC_ANG_PIT_P    15.000000
-ATC_ANG_RLL_P    15.000000
-ATC_ANG_YAW_P    10.000000
 ATC_INPUT_TC     0.040000
-ATC_RAT_PIT_P    0.040000
-ATC_RAT_PIT_I    0.040000
-ATC_RAT_PIT_D    0.001200
-ATC_RAT_PIT_FLTD 60.000000
-ATC_RAT_PIT_FLTE 40.000000
-ATC_RAT_PIT_FLTT 60.000000
-ATC_RAT_PIT_SMAX 50.000000
-ATC_RAT_RLL_P    0.048000
-ATC_RAT_RLL_I    0.048000
-ATC_RAT_RLL_D    0.000800
-ATC_RAT_RLL_FLTD 60.000000
-ATC_RAT_RLL_FLTT 60.000000
-ATC_RAT_RLL_SMAX 50.000000
-ATC_RAT_YAW_P    0.500000
-ATC_RAT_YAW_I    0.050000
-ATC_RAT_YAW_D    0.010000
-ATC_RAT_YAW_FLTD 60.000000
-ATC_RAT_YAW_FLTE 2.000000
-ATC_RAT_YAW_FLTT 60.000000
-ATC_RAT_YAW_SMAX 50.000000
 ATC_SLEW_YAW     24000.000000
 ATC_THR_MIX_MAN  4.000000
 AUTO_OPTIONS     3.000000
-BATT_CAPACITY    1300.000000
+BATT_CAPACITY    0.000000
 BATT_OPTIONS     64.000000
 CIRCLE_RATE      200.000000
 DISARM_DELAY     0.000000
@@ -89,3 +66,14 @@ WPNAV_JERK       6.000000
 WPNAV_SPEED      3000.000000
 WPNAV_SPEED_DN   500.000000
 WPNAV_SPEED_UP   500.000000
+
+RC6_OPTION 0
+QUIK_ENABLE 1
+QUIK_MAX_REDUCE 90
+QUIK_YAW_D_MAX   0.002
+QUIK_YAW_P_MAX   0.5
+
+ATC_RAT_PIT_SMAX 50
+ATC_RAT_RLL_SMAX 50
+ATC_RAT_YAW_SMAX 50
+