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APM_Control: only save autotune gains when P finished

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this prevents saving values which are temporarily high due to tuning
process

See this bug report
https://discuss.ardupilot.org/t/plane-4-1-0-stable/76507/45
This commit is contained in:
Andrew Tridgell 2021-10-09 21:25:59 +11:00
parent 5f32fb82e8
commit 08fcfa04ae
2 changed files with 32 additions and 109 deletions
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122
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -17,18 +17,6 @@
The strategy for roll/pitch autotune is to give the user a AUTOTUNE The strategy for roll/pitch autotune is to give the user a AUTOTUNE
flight mode which behaves just like FBWA, but does automatic flight mode which behaves just like FBWA, but does automatic
tuning. tuning.
While the user is flying in AUTOTUNE the gains are saved every 10
seconds, but the saved gains are not the current gains, instead it
saves the gains from 10s ago. When the user exits AUTOTUNE the
gains are restored from 10s ago.
This allows the user to fly as much as they want in AUTOTUNE mode,
and if they are ever unhappy they just exit the mode. If they stay
in AUTOTUNE for more than 10s then their gains will have changed.
Using this approach users don't need any special switches, they
just need to be able to enter and exit AUTOTUNE mode
*/ */
#include "AP_AutoTune.h" #include "AP_AutoTune.h"
@ -40,9 +28,6 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// time in milliseconds between autotune saves
#define AUTOTUNE_SAVE_PERIOD 10000U
// step size for changing FF gains, percentage // step size for changing FF gains, percentage
#define AUTOTUNE_INCREASE_FF_STEP 12 #define AUTOTUNE_INCREASE_FF_STEP 12
#define AUTOTUNE_DECREASE_FF_STEP 15 #define AUTOTUNE_DECREASE_FF_STEP 15
@ -106,11 +91,8 @@ void AP_AutoTune::start(void)
{ {
running = true; running = true;
state = ATState::IDLE; state = ATState::IDLE;
uint32_t now = AP_HAL::millis();
last_save_ms = now; current = restore = last_save = get_gains();
current = restore = last_save = get_gains(current);
// do first update of rmax and tau now // do first update of rmax and tau now
update_rmax(); update_rmax();
@ -119,8 +101,6 @@ void AP_AutoTune::start(void)
rpid.kIMAX().set(constrain_float(rpid.kIMAX(), AUTOTUNE_MIN_IMAX, AUTOTUNE_MAX_IMAX)); rpid.kIMAX().set(constrain_float(rpid.kIMAX(), AUTOTUNE_MIN_IMAX, AUTOTUNE_MAX_IMAX));
next_save = current;
// use 0.75Hz filters on the actuator, rate and target to reduce impact of noise // use 0.75Hz filters on the actuator, rate and target to reduce impact of noise
actuator_filter.set_cutoff_frequency(AP::scheduler().get_loop_rate_hz(), 0.75); actuator_filter.set_cutoff_frequency(AP::scheduler().get_loop_rate_hz(), 0.75);
rate_filter.set_cutoff_frequency(AP::scheduler().get_loop_rate_hz(), 0.75); rate_filter.set_cutoff_frequency(AP::scheduler().get_loop_rate_hz(), 0.75);
@ -159,14 +139,11 @@ void AP_AutoTune::stop(void)
{ {
if (running) { if (running) {
running = false; running = false;
if (is_positive(D_limit)) { if (is_positive(D_limit) && is_positive(P_limit)) {
restore.D = MIN(restore.D, D_limit); save_gains();
} else {
restore_gains();
} }
if (is_positive(P_limit)) {
restore.P = MIN(restore.P, P_limit);
}
save_gains(restore);
current = restore;
} }
} }
@ -178,7 +155,7 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_e
if (!running) { if (!running) {
return; return;
} }
check_save();
// see what state we are in // see what state we are in
ATState new_state = state; ATState new_state = state;
const float desired_rate = target_filter.apply(pinfo.target); const float desired_rate = target_filter.apply(pinfo.target);
@ -400,10 +377,7 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_e
if (done_count < 3) { if (done_count < 3) {
if (++done_count == 3) { if (++done_count == 3) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s: Finished", type==AUTOTUNE_ROLL?"Roll":"Pitch"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "%s: Finished", type==AUTOTUNE_ROLL?"Roll":"Pitch");
next_save.P = P; save_gains();
next_save.D = D;
restore.P = P;
restore.D = D;
} }
} }
} }
@ -451,60 +425,20 @@ void AP_AutoTune::state_change(ATState new_state)
} }
/* /*
see if we should save new values save a float if it has changed
*/ */
void AP_AutoTune::check_save(void) void AP_AutoTune::save_float_if_changed(AP_Float &v, float old_value)
{ {
if (AP_HAL::millis() - last_save_ms < AUTOTUNE_SAVE_PERIOD) { if (!is_equal(old_value, v.get())) {
return;
}
// save the next_save values, which are the autotune value from
// the last save period. This means the pilot has
// AUTOTUNE_SAVE_PERIOD milliseconds to decide they don't like the
// gains and switch out of autotune
ATGains tmp = get_gains(current);
save_gains(next_save);
last_save = next_save;
// restore our current gains
set_gains(tmp);
// if the pilot exits autotune they get these saved values
restore = next_save;
// the next values to save will be the ones we are flying now
next_save = tmp;
if (is_positive(D_limit)) {
next_save.D = MIN(next_save.D, D_limit);
}
if (is_positive(P_limit)) {
next_save.P = MIN(next_save.P, P_limit);
}
last_save_ms = AP_HAL::millis();
}
/*
set a float and save a float if it has changed by more than
0.1%. This reduces the number of insignificant EEPROM writes
*/
void AP_AutoTune::save_float_if_changed(AP_Float &v, float value)
{
float old_value = v.get();
v.set(value);
if (value <= 0 || fabsf((value-old_value)/value) > 0.001f) {
v.save(); v.save();
} }
} }
/* /*
set a int16 and save if changed save a int16_t if it has changed
*/ */
void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value) void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t old_value)
{ {
int16_t old_value = v.get();
v.set(value);
if (old_value != v.get()) { if (old_value != v.get()) {
v.save(); v.save();
} }
@ -514,10 +448,9 @@ void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value)
/* /*
save a set of gains save a set of gains
*/ */
void AP_AutoTune::save_gains(const ATGains &v) void AP_AutoTune::save_gains(void)
{ {
ATGains tmp = current; const auto &v = last_save;
current = last_save;
save_float_if_changed(current.tau, v.tau); save_float_if_changed(current.tau, v.tau);
save_int16_if_changed(current.rmax_pos, v.rmax_pos); save_int16_if_changed(current.rmax_pos, v.rmax_pos);
save_int16_if_changed(current.rmax_neg, v.rmax_neg); save_int16_if_changed(current.rmax_neg, v.rmax_neg);
@ -529,16 +462,15 @@ void AP_AutoTune::save_gains(const ATGains &v)
save_float_if_changed(rpid.filt_T_hz(), v.flt_T); save_float_if_changed(rpid.filt_T_hz(), v.flt_T);
save_float_if_changed(rpid.filt_E_hz(), v.flt_E); save_float_if_changed(rpid.filt_E_hz(), v.flt_E);
save_float_if_changed(rpid.filt_D_hz(), v.flt_D); save_float_if_changed(rpid.filt_D_hz(), v.flt_D);
last_save = get_gains(current); last_save = get_gains();
current = tmp;
} }
/* /*
get gains with PID components get gains with PID components
*/ */
AP_AutoTune::ATGains AP_AutoTune::get_gains(const ATGains &v) AP_AutoTune::ATGains AP_AutoTune::get_gains(void)
{ {
ATGains ret = v; ATGains ret = current;
ret.FF = rpid.ff(); ret.FF = rpid.ff();
ret.P = rpid.kP(); ret.P = rpid.kP();
ret.I = rpid.kI(); ret.I = rpid.kI();
@ -553,17 +485,17 @@ AP_AutoTune::ATGains AP_AutoTune::get_gains(const ATGains &v)
/* /*
set gains with PID components set gains with PID components
*/ */
void AP_AutoTune::set_gains(const ATGains &v) void AP_AutoTune::restore_gains(void)
{ {
current = v; current = restore;
rpid.ff().set(v.FF); rpid.ff().set(restore.FF);
rpid.kP().set(v.P); rpid.kP().set(restore.P);
rpid.kI().set(v.I); rpid.kI().set(restore.I);
rpid.kD().set(v.D); rpid.kD().set(restore.D);
rpid.kIMAX().set(v.IMAX); rpid.kIMAX().set(restore.IMAX);
rpid.filt_T_hz().set(v.flt_T); rpid.filt_T_hz().set(restore.flt_T);
rpid.filt_E_hz().set(v.flt_E); rpid.filt_E_hz().set(restore.flt_E);
rpid.filt_D_hz().set(v.flt_D); rpid.filt_D_hz().set(restore.flt_D);
} }
/* /*

15
libraries/APM_Control/AP_AutoTune.h
View File

@ -69,16 +69,8 @@ private:
// values to restore if we leave autotune mode // values to restore if we leave autotune mode
ATGains restore; ATGains restore;
// values we last saved
ATGains last_save; ATGains last_save;
// values to save on the next save event
ATGains next_save;
// time when we last saved
uint32_t last_save_ms;
// last logging time // last logging time
uint32_t last_log_ms; uint32_t last_log_ms;
@ -104,17 +96,16 @@ private:
// when we entered the current state // when we entered the current state
uint32_t state_enter_ms; uint32_t state_enter_ms;
void check_save(void);
void check_state_exit(uint32_t state_time_ms); void check_state_exit(uint32_t state_time_ms);
void save_gains(const ATGains &v); void save_gains(void);
void save_float_if_changed(AP_Float &v, float value); void save_float_if_changed(AP_Float &v, float value);
void save_int16_if_changed(AP_Int16 &v, int16_t value); void save_int16_if_changed(AP_Int16 &v, int16_t value);
void state_change(ATState newstate); void state_change(ATState newstate);
// get gains with PID components // get gains with PID components
ATGains get_gains(const ATGains &current); ATGains get_gains(void);
void set_gains(const ATGains &v); void restore_gains(void);
// update rmax and tau towards target // update rmax and tau towards target
void update_rmax(); void update_rmax();