From 933266e5b23e58b4dee464ee6e48077f9455743f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 27 Jul 2024 13:51:41 +1000
Subject: [PATCH] Plane: convert to new quicktune approach

---
 ArduPlane/ArduPlane.cpp  | 15 +++++++++++++++
 ArduPlane/Attitude.cpp   |  5 -----
 ArduPlane/Parameters.cpp |  2 +-
 ArduPlane/Plane.h        |  6 +++++-
 ArduPlane/RC_Channel.cpp | 25 +------------------------
 ArduPlane/RC_Channel.h   |  3 ---
 6 files changed, 22 insertions(+), 34 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index bc6d28fbfaa8a..7b55db8c2a9e6 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -139,6 +139,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(precland_update, 400, 50, 160),
 #endif
+#if AP_QUICKTUNE_ENABLED
+    SCHED_TASK(update_quicktune, 40, 100, 163),
+#endif
 };
 
 void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -979,4 +982,16 @@ void Plane::precland_update(void)
 }
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+/*
+  update AP_Quicktune object. We pass the supports_quicktune() method
+  in so that quicktune can detect if the user changes to a
+  non-quicktune capable mode while tuning and the gains can be reverted
+ */
+void Plane::update_quicktune(void)
+{
+    quicktune.update(control_mode->supports_quicktune());
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index a57a4bc68349c..0996a50b725ab 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -424,11 +424,6 @@ void Plane::stabilize()
 #endif
     } else {
         plane.control_mode->run();
-#if AP_QUICKTUNE_ENABLED
-        if (plane.quicktune != nullptr && control_mode->supports_quicktune()) {
-            plane.quicktune->update();
-        }
-#endif
     }
 
     /*
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 99848f2a863b5..3842b3389f3c3 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1000,7 +1000,7 @@ const AP_Param::Info Plane::var_info[] = {
 #if AP_QUICKTUNE_ENABLED == ENABLED
     // @Group: QUIK_
     // @Path: ../libraries/AP_Quicktune/AP_Quicktune.cpp
-    GOBJECTPTR(quicktune, "QUIK_",  AP_Quicktune),
+    GOBJECT(quicktune, "QUIK_",  AP_Quicktune),
 #endif
     
     AP_VAREND
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 11bcbad0fdf00..6760a2c3e0d6b 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -307,7 +307,7 @@ class Plane : public AP_Vehicle {
 #endif
 
 #if AP_QUICKTUNE_ENABLED
-    AP_Quicktune *quicktune;
+    AP_Quicktune quicktune;
 #endif
     
     // This is the state of the flight control system
@@ -846,6 +846,10 @@ class Plane : public AP_Vehicle {
     static const TerrainLookupTable Terrain_lookup[];
 #endif
 
+#if AP_QUICKTUNE_ENABLED
+    void update_quicktune(void);
+#endif
+
     // Attitude.cpp
     void adjust_nav_pitch_throttle(void);
     void update_load_factor(void);
diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index 4a246c09ca984..3b9d37e0eb477 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -442,7 +442,7 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
 
 #if AP_QUICKTUNE_ENABLED
     case AUX_FUNC::QUICKTUNE:
-        do_aux_function_quicktune(ch_flag);
+        plane.quicktune.update_switch_pos(ch_flag);
         break;
 #endif
 
@@ -452,26 +452,3 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
 
     return true;
 }
-
-#if AP_QUICKTUNE_ENABLED
-// called on any Quicktune Aux function change
-void RC_Channel_Plane::do_aux_function_quicktune(const AuxSwitchPos ch_flag)
-{
-    if (plane.quicktune == nullptr && !plane.arming.is_armed()) {
-        //first call, allocate quicktune object
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Quicktune: Initialised.");
-        plane.quicktune = NEW_NOTHROW AP_Quicktune();
-        if (plane.quicktune == nullptr) {
-            // Can't use BoardConfig error as this might happen while flying.
-            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Quicktune: unable to allocate.");
-            return;
-        }
-        AP_Param::load_object_from_eeprom(plane.quicktune, plane.quicktune->var_info);
-    } else if (plane.quicktune == nullptr && plane.arming.is_armed()){
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Quicktune: Must be disarmed to initialise.");
-    }
-    if (plane.quicktune != nullptr) {
-        plane.quicktune->update_switch_pos(ch_flag);
-    }
-}
-#endif
diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
index a437ef963d06d..e9b4804aac545 100644
--- a/ArduPlane/RC_Channel.h
+++ b/ArduPlane/RC_Channel.h
@@ -30,9 +30,6 @@ class RC_Channel_Plane : public RC_Channel
     void do_aux_function_soaring_3pos(AuxSwitchPos ch_flag);
 
     void do_aux_function_flare(AuxSwitchPos ch_flag);
-#if AP_QUICKTUNE_ENABLED
-    void do_aux_function_quicktune(const AuxSwitchPos ch_flag);
-#endif
 };
 
 class RC_Channels_Plane : public RC_Channels