ardupilot/ArduCopter/mode_autotune.cpp

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#include "Copter.h"
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/*
autotune mode is a wrapper around the AC_AutoTune library
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*/
#if AUTOTUNE_ENABLED == ENABLED
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bool AutoTune::init()
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{
// only allow AutoTune from some flight modes, for example Stabilize, AltHold, PosHold or Loiter modes
if (!copter.flightmode->allows_autotune()) {
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return false;
}
// ensure throttle is above zero
if (copter.ap.throttle_zero) {
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return false;
}
// ensure we are flying
if (!copter.motors->armed() || !copter.ap.auto_armed || copter.ap.land_complete) {
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return false;
}
// use position hold while tuning if we were in QLOITER
bool position_hold = (copter.flightmode->mode_number() == Mode::Number::LOITER || copter.flightmode->mode_number() == Mode::Number::POSHOLD);
return init_internals(position_hold,
copter.attitude_control,
copter.pos_control,
copter.ahrs_view,
&copter.inertial_nav);
}
void AutoTune::run()
{
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// apply SIMPLE mode transform to pilot inputs
copter.update_simple_mode();
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// reset target lean angles and heading while landed
if (copter.ap.land_complete) {
// we are landed, shut down
float target_climb_rate = get_pilot_desired_climb_rate_cms();
// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
if (target_climb_rate < 0.0f) {
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else {
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
copter.attitude_control->reset_rate_controller_I_terms_smoothly();
copter.attitude_control->reset_yaw_target_and_rate();
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float target_roll, target_pitch, target_yaw_rate;
get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
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copter.pos_control->relax_z_controller(0.0f);
copter.pos_control->update_z_controller();
} else {
// run autotune mode
AC_AutoTune::run();
}
}
/*
get stick input climb rate
*/
float AutoTune::get_pilot_desired_climb_rate_cms(void) const
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{
float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
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// get avoidance adjusted climb rate
target_climb_rate = copter.mode_autotune.get_avoidance_adjusted_climbrate(target_climb_rate);
return target_climb_rate;
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}
/*
get stick roll, pitch and yaw rate
*/
void AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
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{
copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
copter.attitude_control->get_althold_lean_angle_max());
yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
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}
/*
setup z controller velocity and accel limits
*/
void AutoTune::init_z_limits()
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{
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// set vertical speed and acceleration limits
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copter.pos_control->set_max_speed_accel_z(-copter.get_pilot_speed_dn(), copter.g.pilot_speed_up, copter.g.pilot_accel_z);
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}
void AutoTune::log_pids()
{
copter.logger.Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info());
copter.logger.Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info());
copter.logger.Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info());
}
/*
check if we have a good position estimate
*/
bool AutoTune::position_ok()
{
return copter.position_ok();
}
/*
initialise autotune mode
*/
bool ModeAutoTune::init(bool ignore_checks)
{
return autotune.init();
}
void ModeAutoTune::run()
{
autotune.run();
}
void ModeAutoTune::save_tuning_gains()
{
autotune.save_tuning_gains();
}
void ModeAutoTune::exit()
{
autotune.stop();
}
void ModeAutoTune::reset()
{
autotune.reset();
}
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#endif // AUTOTUNE_ENABLED == ENABLED