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Copter: throttle rate to simple P controller

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Saves at least 15bytes of RAM
This commit is contained in:
Randy Mackay 2014-02-16 00:00:05 +09:00 committed by Andrew Tridgell
parent a021d0ca31
commit 00913ffe1b
5 changed files with 15 additions and 32 deletions
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8
ArduCopter/ArduCopter.pde
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@ -684,7 +684,7 @@ AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.p_stabilize_roll
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw); g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#endif #endif
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control, AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel, g.p_alt_hold, g.p_throttle_rate, g.pid_throttle_accel,
g.p_loiter_pos, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon); g.p_loiter_pos, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon);
static AC_WPNav wp_nav(&inertial_nav, &ahrs, pos_control); static AC_WPNav wp_nav(&inertial_nav, &ahrs, pos_control);
static AC_Circle circle_nav(inertial_nav, ahrs, pos_control); static AC_Circle circle_nav(inertial_nav, ahrs, pos_control);
@ -1421,11 +1421,7 @@ static void tuning(){
break; break;
case CH6_THROTTLE_RATE_KP: case CH6_THROTTLE_RATE_KP:
g.pid_throttle_rate.kP(tuning_value); g.p_throttle_rate.kP(tuning_value);
break;
case CH6_THROTTLE_RATE_KD:
g.pid_throttle_rate.kD(tuning_value);
break; break;
case CH6_THROTTLE_ACCEL_KP: case CH6_THROTTLE_ACCEL_KP:

24
ArduCopter/Parameters.h
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@ -274,7 +274,7 @@ public:
k_param_pid_nav_lat, // 233 - remove k_param_pid_nav_lat, // 233 - remove
k_param_pid_nav_lon, // 234 - remove k_param_pid_nav_lon, // 234 - remove
k_param_p_alt_hold, k_param_p_alt_hold,
k_param_pid_throttle_rate, k_param_p_throttle_rate,
k_param_pid_optflow_roll, k_param_pid_optflow_roll,
k_param_pid_optflow_pitch, k_param_pid_optflow_pitch,
k_param_acro_balance_roll_old, // 239 - remove k_param_acro_balance_roll_old, // 239 - remove
@ -415,7 +415,7 @@ public:
AC_PID pid_loiter_rate_lat; AC_PID pid_loiter_rate_lat;
AC_PID pid_loiter_rate_lon; AC_PID pid_loiter_rate_lon;
AC_PID pid_throttle_rate; AC_P p_throttle_rate;
AC_PID pid_throttle_accel; AC_PID pid_throttle_accel;
AC_PID pid_optflow_roll; AC_PID pid_optflow_roll;
AC_PID pid_optflow_pitch; AC_PID pid_optflow_pitch;
@ -465,9 +465,8 @@ public:
rc_12 (CH_12), rc_12 (CH_12),
#endif #endif
// PID controller initial P initial I initial D // PID controller initial P initial I initial D initial imax
// initial imax //----------------------------------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX), pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX), pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX), pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX),
@ -475,21 +474,20 @@ public:
pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX),
pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX),
pid_throttle_rate (THROTTLE_RATE_P, THROTTLE_RATE_I, THROTTLE_RATE_D, THROTTLE_RATE_IMAX), p_throttle_rate (THROTTLE_RATE_P),
pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX), pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX),
pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX), pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX),
pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX), pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX),
// PI controller initial P initial I initial // P controller initial P
// imax
//---------------------------------------------------------------------- //----------------------------------------------------------------------
p_loiter_pos (LOITER_POS_P), p_loiter_pos (LOITER_POS_P),
p_stabilize_roll (STABILIZE_ROLL_P), p_stabilize_roll (STABILIZE_ROLL_P),
p_stabilize_pitch (STABILIZE_PITCH_P), p_stabilize_pitch (STABILIZE_PITCH_P),
p_stabilize_yaw (STABILIZE_YAW_P), p_stabilize_yaw (STABILIZE_YAW_P),
p_alt_hold (ALT_HOLD_P) p_alt_hold (ALT_HOLD_P)
{ {
} }
}; };

4
ArduCopter/Parameters.pde
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@ -360,7 +360,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Channel 6 Tuning // @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard // @User: Standard
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate,41:Sonar Gain // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate,41:Sonar Gain
GSCALAR(radio_tuning, "TUNE", 0), GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW // @Param: TUNE_LOW
@ -720,7 +720,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Description: Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed // @Description: Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed
// @Range: 0.000 0.400 // @Range: 0.000 0.400
// @User: Standard // @User: Standard
GGROUP(pid_throttle_rate, "THR_RATE_", AC_PID), GGROUP(p_throttle_rate, "THR_RATE_", AC_P),
// @Param: THR_ACCEL_P // @Param: THR_ACCEL_P
// @DisplayName: Throttle acceleration controller P gain // @DisplayName: Throttle acceleration controller P gain

10
ArduCopter/config.h
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@ -663,16 +663,6 @@
#ifndef THROTTLE_RATE_P #ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 6.0f # define THROTTLE_RATE_P 6.0f
#endif #endif
#ifndef THROTTLE_RATE_I
# define THROTTLE_RATE_I 0.0f
#endif
#ifndef THROTTLE_RATE_D
# define THROTTLE_RATE_D 0.0f
#endif
#ifndef THROTTLE_RATE_IMAX
# define THROTTLE_RATE_IMAX 300
#endif
// default maximum vertical velocity the pilot may request // default maximum vertical velocity the pilot may request
#ifndef PILOT_VELZ_MAX #ifndef PILOT_VELZ_MAX

1
ArduCopter/defines.h
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@ -123,7 +123,6 @@
#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term #define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate) #define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output) #define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_RATE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term #define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
#define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term #define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
#define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term #define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term