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AC_Autotune: use DRP for tuning Angle P

This commit is contained in:
Bill Geyer 2022-05-02 23:35:50 -04:00 committed by Bill Geyer
parent 1452b50196
commit 0a0c02977d
1 changed files with 9 additions and 6 deletions
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15
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -185,6 +185,7 @@ void AC_AutoTune_Heli::test_init()
stop_freq = max_sweep_freq; stop_freq = max_sweep_freq;
} }
} }
attitude_control->bf_feedforward(false);
if (!is_equal(start_freq,stop_freq)) { if (!is_equal(start_freq,stop_freq)) {
// initialize determine gain function // initialize determine gain function
@ -1060,19 +1061,19 @@ void AC_AutoTune_Heli::dwell_test_run(uint8_t freq_resp_input, float start_frq,
case ROLL: case ROLL:
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_angle_cd + trim_angle_cd.x, trim_angle_cd.y, 0.0f); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_angle_cd + trim_angle_cd.x, trim_angle_cd.y, 0.0f);
command_reading = motors->get_roll(); command_reading = motors->get_roll();
tgt_rate_reading = ((float)attitude_control->get_att_target_euler_cd().x) / 5730.0f; tgt_rate_reading = (target_angle_cd) / 5730.0f;
gyro_reading = ((float)ahrs_view->roll_sensor) / 5730.0f; gyro_reading = ((float)ahrs_view->roll_sensor + trim_angle_cd.x - target_angle_cd) / 5730.0f;
break; break;
case PITCH: case PITCH:
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(trim_angle_cd.x, target_angle_cd + trim_angle_cd.y, 0.0f); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(trim_angle_cd.x, target_angle_cd + trim_angle_cd.y, 0.0f);
command_reading = motors->get_pitch(); command_reading = motors->get_pitch();
tgt_rate_reading = ((float)attitude_control->get_att_target_euler_cd().y) / 5730.0f; tgt_rate_reading = (target_angle_cd) / 5730.0f;
gyro_reading = ((float)ahrs_view->pitch_sensor) / 5730.0f; gyro_reading = ((float)ahrs_view->pitch_sensor + trim_angle_cd.y - target_angle_cd) / 5730.0f;
break; break;
case YAW: case YAW:
command_reading = motors->get_yaw(); command_reading = motors->get_yaw();
tgt_rate_reading = (wrap_180_cd((float)attitude_control->get_att_target_euler_cd().z - trim_yaw_tgt_reading)) / 5730.0f; tgt_rate_reading = (target_angle_cd) / 5730.0f;
gyro_reading = (wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading)) / 5730.0f; gyro_reading = (wrap_180_cd((float)ahrs_view->yaw_sensor - trim_yaw_heading_reading - target_angle_cd)) / 5730.0f;
attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false); attitude_control->input_euler_angle_roll_pitch_yaw(trim_angle_cd.x, trim_angle_cd.y, wrap_180_cd(trim_yaw_tgt_reading + target_angle_cd), false);
break; break;
} }
@ -1206,6 +1207,8 @@ void AC_AutoTune_Heli::updating_rate_ff_up_all(AxisType test_axis)
// update gains for the angle p up tune type // update gains for the angle p up tune type
void AC_AutoTune_Heli::updating_angle_p_up_all(AxisType test_axis) void AC_AutoTune_Heli::updating_angle_p_up_all(AxisType test_axis)
{ {
attitude_control->bf_feedforward(orig_bf_feedforward);
switch (test_axis) { switch (test_axis) {
case ROLL: case ROLL:
updating_angle_p_up(tune_roll_sp, test_freq, test_gain, test_phase, freq_cnt); updating_angle_p_up(tune_roll_sp, test_freq, test_gain, test_phase, freq_cnt);