Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: check for high ratio of rmsD to rmsP in tuning

Browse Source
This commit is contained in:
Andrew Tridgell 2016-06-09 16:31:00 +10:00
parent e070aeebe3
commit 021aebeac0
1 changed files with 26 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
ArduPlane/tuning.cpp
View File

@ -277,21 +277,45 @@ float AP_Tuning_Plane::controller_error(uint8_t parm)
if (!plane.quadplane.available()) {
return 0;
}
// in general a good tune will have rmsP significantly greater
// than rmsD. Otherwise it is too easy to push D too high while
// tuning a quadplane and end up with D dominating
const float max_P_D_ratio = 3.0f;
switch(parm) {
// special handling of dual-parameters
case TUNING_RATE_ROLL_PI:
case TUNING_RATE_ROLL_P:
case TUNING_RATE_ROLL_I:
case TUNING_RATE_ROLL_D:
return plane.quadplane.attitude_control->control_monitor_rms_output_roll();
case TUNING_RATE_ROLL_D: {
// special case for D term to keep it well below P
float rms_P = plane.quadplane.attitude_control->control_monitor_rms_output_roll_P();
float rms_D = plane.quadplane.attitude_control->control_monitor_rms_output_roll_D();
if (rms_P < rms_D * max_P_D_ratio) {
return max_P_D_ratio;
}
return rms_P+rms_D;
}
case TUNING_RATE_PITCH_PI:
case TUNING_RATE_PITCH_P:
case TUNING_RATE_PITCH_I:
case TUNING_RATE_PITCH_D:
return plane.quadplane.attitude_control->control_monitor_rms_output_pitch();
case TUNING_RATE_PITCH_D: {
// special case for D term to keep it well below P
float rms_P = plane.quadplane.attitude_control->control_monitor_rms_output_pitch_P();
float rms_D = plane.quadplane.attitude_control->control_monitor_rms_output_pitch_D();
if (rms_P < rms_D * max_P_D_ratio) {
return max_P_D_ratio;
}
return rms_P+rms_D;
}
case TUNING_RATE_YAW_PI:
case TUNING_RATE_YAW_P:
case TUNING_RATE_YAW_I: