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https://github.com/ArduPilot/ardupilot
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Copter: throttle rate to simple P controller
Saves at least 15bytes of RAM
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
a021d0ca31
commit
00913ffe1b
@ -684,7 +684,7 @@ AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.p_stabilize_roll
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
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#endif
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AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
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g.p_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel,
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g.p_alt_hold, g.p_throttle_rate, g.pid_throttle_accel,
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g.p_loiter_pos, g.pid_loiter_rate_lat, g.pid_loiter_rate_lon);
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static AC_WPNav wp_nav(&inertial_nav, &ahrs, pos_control);
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static AC_Circle circle_nav(inertial_nav, ahrs, pos_control);
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@ -1421,11 +1421,7 @@ static void tuning(){
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break;
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case CH6_THROTTLE_RATE_KP:
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g.pid_throttle_rate.kP(tuning_value);
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break;
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case CH6_THROTTLE_RATE_KD:
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g.pid_throttle_rate.kD(tuning_value);
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g.p_throttle_rate.kP(tuning_value);
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break;
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case CH6_THROTTLE_ACCEL_KP:
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@ -274,7 +274,7 @@ public:
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k_param_pid_nav_lat, // 233 - remove
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k_param_pid_nav_lon, // 234 - remove
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k_param_p_alt_hold,
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k_param_pid_throttle_rate,
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k_param_p_throttle_rate,
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k_param_pid_optflow_roll,
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k_param_pid_optflow_pitch,
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k_param_acro_balance_roll_old, // 239 - remove
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@ -415,7 +415,7 @@ public:
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AC_PID pid_loiter_rate_lat;
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AC_PID pid_loiter_rate_lon;
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AC_PID pid_throttle_rate;
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AC_P p_throttle_rate;
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AC_PID pid_throttle_accel;
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AC_PID pid_optflow_roll;
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AC_PID pid_optflow_pitch;
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@ -465,9 +465,8 @@ public:
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rc_12 (CH_12),
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#endif
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// PID controller initial P initial I initial D
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// initial imax
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//-----------------------------------------------------------------------------------------------------
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// PID controller initial P initial I initial D initial imax
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//----------------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX),
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@ -475,21 +474,20 @@ public:
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX),
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX),
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pid_throttle_rate (THROTTLE_RATE_P, THROTTLE_RATE_I, THROTTLE_RATE_D, THROTTLE_RATE_IMAX),
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p_throttle_rate (THROTTLE_RATE_P),
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pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX),
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX),
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX),
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// PI controller initial P initial I initial
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// imax
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// P controller initial P
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//----------------------------------------------------------------------
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p_loiter_pos (LOITER_POS_P),
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p_loiter_pos (LOITER_POS_P),
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p_stabilize_roll (STABILIZE_ROLL_P),
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p_stabilize_pitch (STABILIZE_PITCH_P),
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p_stabilize_yaw (STABILIZE_YAW_P),
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p_stabilize_roll (STABILIZE_ROLL_P),
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p_stabilize_pitch (STABILIZE_PITCH_P),
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p_stabilize_yaw (STABILIZE_YAW_P),
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p_alt_hold (ALT_HOLD_P)
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p_alt_hold (ALT_HOLD_P)
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{
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}
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};
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@ -360,7 +360,7 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @DisplayName: Channel 6 Tuning
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// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
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// @User: Standard
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// @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
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// @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
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GSCALAR(radio_tuning, "TUNE", 0),
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// @Param: TUNE_LOW
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@ -720,7 +720,7 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @Description: Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed
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// @Range: 0.000 0.400
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// @User: Standard
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GGROUP(pid_throttle_rate, "THR_RATE_", AC_PID),
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GGROUP(p_throttle_rate, "THR_RATE_", AC_P),
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// @Param: THR_ACCEL_P
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// @DisplayName: Throttle acceleration controller P gain
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@ -663,16 +663,6 @@
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#ifndef THROTTLE_RATE_P
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# define THROTTLE_RATE_P 6.0f
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#endif
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#ifndef THROTTLE_RATE_I
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# define THROTTLE_RATE_I 0.0f
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#endif
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#ifndef THROTTLE_RATE_D
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# define THROTTLE_RATE_D 0.0f
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#endif
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#ifndef THROTTLE_RATE_IMAX
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# define THROTTLE_RATE_IMAX 300
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#endif
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// default maximum vertical velocity the pilot may request
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#ifndef PILOT_VELZ_MAX
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@ -123,7 +123,6 @@
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#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
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#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
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#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_RATE_KD 37 // throttle rate controller's D term (desired rate to acceleration or motor output)
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#define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
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#define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
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#define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term
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