mirror of https://github.com/ArduPilot/ardupilot
Added rudimentary tuning with CH6. Assign this to your Flaps knob on your radio. in APM_config.h set your desired option, then upload. The knob will adjust the value in real time. Enter the CLI and run test, tune to see the output value.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1902 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort
parent
4a54292cc7
commit
0063c8e60d
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@ -679,6 +679,7 @@ void medium_loop()
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// stuff that happens at 50 hz
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// ---------------------------
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// use Yaw to find our bearing error
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calc_bearing_error();
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@ -758,6 +759,9 @@ void slow_loop()
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gcs.send_message(MSG_LOCATION);
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#endif
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#if CHANNEL_6_TUNING != CH6_NONE
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tuning();
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#endif
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break;
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@ -1169,3 +1173,31 @@ adjust_altitude()
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}
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}
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void tuning(){
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#if CHANNEL_6_TUNING == CH6_STABLIZE_KP
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g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000.0);
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g.pid_stabilize_pitch.kP((float)g.rc_6.control_in / 1000.0);
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init_pids();
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#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD
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// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me.
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// use test,radio to get the value to use in your config.
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g.stabilize_dampener.set((float)g.rc_6.control_in / 1000.0);
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#elif CHANNEL_6_TUNING == CH6_BARO_KP
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g.pid_baro_throttle.kP((float)g.rc_6.control_in / 1000.0);
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#elif CHANNEL_6_TUNING == CH6_BARO_KD
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g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
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#elif CHANNEL_6_TUNING == CH6_SONAR_KP
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g.pid_sonar_throttle.kP((float)g.rc_6.control_in / 1000.0);
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#elif CHANNEL_6_TUNING == CH6_SONAR_KD
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g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); // 0 to 1
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#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
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g.Y6_scaling.set((float)g.rc_6.control_in / 1000.0)
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#endif
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}
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@ -399,7 +399,7 @@
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#ifndef THROTTLE_SONAR_P
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# define THROTTLE_SONAR_P .3
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# define THROTTLE_SONAR_P .5
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#endif
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#ifndef THROTTLE_SONAR_I
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# define THROTTLE_SONAR_I 0.1
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@ -437,6 +437,10 @@
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#endif
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#ifndef CHANNEL_6_TUNING
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# define CHANNEL_6_TUNING CH6_NONE
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Dataflash logging control
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//
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@ -101,6 +101,17 @@
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#define YAW_BRAKE 1
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#define YAW_RATE 2
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// CH_6 Tuning
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#define CH6_NONE 0
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#define CH6_STABLIZE_KP 1
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#define CH6_STABLIZE_KD 2
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#define CH6_BARO_KP 3
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#define CH6_BARO_KD 4
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#define CH6_SONAR_KP 5
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#define CH6_SONAR_KD 6
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#define CH6_Y6_SCALING 7
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// Commands - Note that APM now uses a subset of the MAVLink protocol commands. See enum MAV_CMD in the GCS_Mavlink library
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#define CMD_BLANK 0 // there is no command stored in the mem location requested
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@ -202,50 +202,13 @@ set_servos_4()
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motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get());
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}
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num++;
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if (num > 25){
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if (num++ > 25){
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num = 0;
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/*
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Serial.printf("t_alt:%ld, alt:%ld, thr: %d sen: ",
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target_altitude,
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current_loc.alt,
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g.rc_3.servo_out);
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if(altitude_sensor == BARO){
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Serial.println("Baro");
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}else{
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Serial.println("Sonar");
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}
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*/
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//Serial.print("!");
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//debugging with Channel 6
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//g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000); // 0 to 1
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//g.pid_baro_throttle.kP((float)g.rc_6.control_in / 4000); // 0 to .25
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// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me.
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// use test,radio to get the value to use in your config.
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//g.stabilize_dampener.set((float)g.rc_6.control_in / 1000.0);
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/*
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// ROLL and PITCH
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// make sure you init_pids() after changing the kP
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g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000);
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init_pids();
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//Serial.print("kP: ");
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//Serial.println(g.pid_stabilize_roll.kP(),3);
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//*/
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/*
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// YAW
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// make sure you init_pids() after changing the kP
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g.pid_yaw.kP((float)g.rc_6.control_in / 1000);
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init_pids();
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//*/
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/*
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Serial.printf("yaw: %d, lat_e: %ld, lng_e: %ld, \tnlat: %ld, nlng: %ld,\tnrll: %ld, nptc: %ld, \tcx: %.2f, sy: %.2f, \ttber: %ld, \tnber: %ld\n",
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@ -29,6 +29,19 @@ void init_rc_in()
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g.rc_7.set_range(0,1000);
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g.rc_8.set_range(0,1000);
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#if CHANNEL_6_TUNING == CH6_STABLIZE_KD
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g.rc_6.set_range(0,300);
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#elif CHANNEL_6_TUNING == CH6_BARO_KP
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g.rc_6.set_range(0,500);
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#elif CHANNEL_6_TUNING == CH6_BARO_KD
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g.rc_6.set_range(0,500);
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#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
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g.rc_6.set_range(800,1000);
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#endif
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//catch bad RC_3 min values
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}
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@ -12,6 +12,7 @@ static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
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static int8_t test_current(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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@ -55,6 +56,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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//{"dcm", test_dcm},
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//{"omega", test_omega},
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{"battery", test_battery},
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{"tune", test_tuning},
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{"current", test_current},
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{"relay", test_relay},
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{"waypoints", test_wp},
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@ -575,6 +577,45 @@ test_battery(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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static int8_t
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test_tuning(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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while(1){
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delay(200);
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read_radio();
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#if CHANNEL_6_TUNING == CH6_NONE
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Serial.printf_P(PSTR("disabled\n"));
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#elif CHANNEL_6_TUNING == CH6_STABLIZE_KP
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Serial.printf_P(PSTR("stab kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD
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Serial.printf_P(PSTR("stab kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_BARO_KP
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Serial.printf_P(PSTR("baro kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_BARO_KD
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Serial.printf_P(PSTR("baro kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_SONAR_KP
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Serial.printf_P(PSTR("sonar kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_SONAR_KD
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Serial.printf_P(PSTR("sonar kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
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Serial.printf_P(PSTR("Y6: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
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#endif
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_current(uint8_t argc, const Menu::arg *argv)
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{
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