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Copter: added automatic yaw to autotune position control

This commit is contained in:
Andrew Tridgell 2017-01-03 13:57:24 +11:00 committed by Randy Mackay
parent fa119f8231
commit 0d1bcd3b94
2 changed files with 32 additions and 4 deletions
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2
ArduCopter/Copter.h
View File

@ -822,7 +822,7 @@ private:
void autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max);
void autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max);
void autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
void autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd);
void autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd);
void avoidance_adsb_update(void);
#if ADVANCED_FAILSAFE == ENABLED
void afs_fs_check(void);

34
ArduCopter/control_autotune.cpp
View File

@ -343,7 +343,7 @@ void Copter::autotune_run()
if (zero_rp_input) {
// pilot input on throttle and yaw will still use position hold if enabled
autotune_get_poshold_attitude(target_roll, target_pitch);
autotune_get_poshold_attitude(target_roll, target_pitch, autotune_desired_yaw);
}
// set motors to full range
@ -379,7 +379,7 @@ void Copter::autotune_attitude_control()
attitude_control->use_ff_and_input_shaping(true);
float autotune_roll_cd, autotune_pitch_cd;
autotune_get_poshold_attitude(autotune_roll_cd, autotune_pitch_cd);
autotune_get_poshold_attitude(autotune_roll_cd, autotune_pitch_cd, autotune_desired_yaw);
// hold level attitude
attitude_control->input_euler_angle_roll_pitch_yaw(autotune_roll_cd, autotune_pitch_cd, autotune_desired_yaw, true, get_smoothing_gain());
@ -1340,7 +1340,7 @@ void Copter::autotune_twitching_measure_acceleration(float &rate_of_change, floa
}
// get attitude for slow position hold in autotune mode
void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd)
void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd)
{
roll_cd = pitch_cd = 0;
@ -1364,6 +1364,10 @@ void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd)
// hit the 10 degree limit at 20 meters position error
const float dist_limit_cm = 2000;
// we only start adjusting yaw if we are more than 5m from the
// target position. That corresponds to a lean angle of 2.5 degrees
const float yaw_dist_limit_cm = 500;
Vector3f pdiff = inertial_nav.get_position() - autotune_state.start_position;
pdiff.z = 0;
@ -1383,6 +1387,30 @@ void Copter::autotune_get_poshold_attitude(float &roll_cd, float &pitch_cd)
// rotate into body frame
pitch_cd = angle_ne.x * ahrs.cos_yaw() + angle_ne.y * ahrs.sin_yaw();
roll_cd = angle_ne.x * ahrs.sin_yaw() - angle_ne.y * ahrs.cos_yaw();
if (dist_cm < yaw_dist_limit_cm) {
// no yaw adjustment
return;
}
/*
also point so that twitching occurs perpendicular to the wind,
if we have drifted more than yaw_dist_limit_cm from the desired
position. This ensures that autotune doesn't have to deal with
more than 2.5 degrees of attitude on the axis it is tuning
*/
float target_yaw_cd = degrees(atan2f(pdiff.y, pdiff.x)) * 100;
if (autotune_state.axis == AUTOTUNE_AXIS_PITCH) {
// for roll and yaw tuning we point along the wind, for pitch
// we point across the wind
target_yaw_cd += 9000;
}
// go to the nearest 180 degree mark, with 5 degree slop to prevent oscillation
if (fabsf(yaw_cd - target_yaw_cd) > 9500) {
target_yaw_cd += 18000;
}
yaw_cd = target_yaw_cd;
}
#endif // AUTOTUNE_ENABLED == ENABLED