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Sub: Remove ch6 tuning

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This commit is contained in:
Jacob Walser 2017-03-22 23:48:49 -04:00
parent 6886952438
commit 15a117dfb4
7 changed files with 1 additions and 271 deletions
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5
ArduSub/ArduSub.cpp
View File

@ -357,11 +357,6 @@ void Sub::three_hz_loop()
#endif // AC_FENCE_ENABLED
update_events();
#if CH6_TUNE_ENABLED == ENABLED
// update ch6 in flight tuning
tuning();
#endif
}
// one_hz_loop - runs at 1Hz

28
ArduSub/Log.cpp
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@ -509,31 +509,6 @@ void Sub::Log_Write_Baro(void)
}
}
struct PACKED log_ParameterTuning {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t parameter; // parameter we are tuning, e.g. 39 is CH6_CIRCLE_RATE
float tuning_value; // normalized value used inside tuning() function
int16_t control_in; // raw tune input value
int16_t tuning_low; // tuning low end value
int16_t tuning_high; // tuning high end value
};
void Sub::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)
{
struct log_ParameterTuning pkt_tune = {
LOG_PACKET_HEADER_INIT(LOG_PARAMTUNE_MSG),
time_us : AP_HAL::micros64(),
parameter : param,
tuning_value : tuning_val,
control_in : control_in,
tuning_low : tune_low,
tuning_high : tune_high
};
DataFlash.WriteBlock(&pkt_tune, sizeof(pkt_tune));
}
// log EKF origin and ahrs home to dataflash
void Sub::Log_Write_Home_And_Origin()
{
@ -603,8 +578,6 @@ void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target
const struct LogStructure Sub::log_structure[] = {
LOG_COMMON_STRUCTURES,
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfHHH", "TimeUS,Param,TunVal,CtrlIn,TunLo,TunHi" },
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow),
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY" },
{ LOG_NAV_TUNING_MSG, sizeof(log_Nav_Tuning),
@ -717,7 +690,6 @@ void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
void Sub::Log_Write_Data(uint8_t id, float value) {}
void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
void Sub::Log_Write_Baro(void) {}
void Sub::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high) {}
void Sub::Log_Write_Home_And_Origin() {}
void Sub::Log_Sensor_Health() {}
void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}

23
ArduSub/Parameters.cpp
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@ -286,29 +286,6 @@ const AP_Param::Info Sub::var_info[] = {
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0),
#if CH6_TUNE_ENABLED == ENABLED
// @Param: TUNE
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @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:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW
// @DisplayName: Tuning minimum
// @Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
GSCALAR(radio_tuning_low, "TUNE_LOW", 0),
// @Param: TUNE_HIGH
// @DisplayName: Tuning maximum
// @Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
// @User: Standard
// @Range: 0 32767
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
#endif
// @Param: DISARM_DELAY
// @DisplayName: Disarm delay
// @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.

12
ArduSub/Parameters.h
View File

@ -222,12 +222,7 @@ public:
// RC_Mapper Library
k_param_rcmap, // Disabled
// CH6 Tuning
k_param_radio_tuning, // Disabled
k_param_radio_tuning_high, // Disabled
k_param_radio_tuning_low, // Disabled
k_param_cam_slew_limit,
k_param_cam_slew_limit = 237,
};
@ -289,11 +284,6 @@ public:
//
AP_Int32 log_bitmask;
AP_Int8 esc_calibrate;
#if CH6_TUNE_ENABLED == ENABLED
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
#endif
AP_Int8 disarm_delay;

4
ArduSub/Sub.h
View File

@ -539,7 +539,6 @@ private:
void Log_Write_Data(uint8_t id, float value);
void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
void Log_Write_Baro(void);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high);
void Log_Write_Home_And_Origin();
void Log_Sensor_Health();
void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
@ -741,9 +740,6 @@ private:
void check_usb_mux(void);
bool should_log(uint32_t mask);
void print_hit_enter();
#if CH6_TUNE_ENABLED == ENABLED
void tuning();
#endif
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);

8
ArduSub/config.h
View File

@ -71,14 +71,6 @@
# define CIRCLE_NAV_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel 6 Tuning
//
#ifndef CH6_TUNE_ENABLED
# define CH6_TUNE_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// RPM
//

192
ArduSub/tuning.cpp
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@ -1,192 +0,0 @@
#include "Sub.h"
#if CH6_TUNE_ENABLED == ENABLED
/*
* tuning.pde - function to update various parameters in flight using the ch6 tuning knob
*/
// tuning - updates parameters based on the ch6 tuning knob's position
// should be called at 3.3hz
void Sub::tuning()
{
// exit immediately if not tuning of when radio failsafe is invoked so tuning values are not set to zero
if ((g.radio_tuning <= 0) || failsafe.manual_control) {
return;
}
float tuning_value = (float)g.rc_6.get_control_in() / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g.rc_6.get_control_in(), g.radio_tuning_low, g.radio_tuning_high);
switch (g.radio_tuning) {
// Roll, Pitch tuning
case TUNING_STABILIZE_ROLL_PITCH_KP:
attitude_control.get_angle_roll_p().kP(tuning_value);
attitude_control.get_angle_pitch_p().kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KP:
attitude_control.get_rate_roll_pid().kP(tuning_value);
attitude_control.get_rate_pitch_pid().kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KI:
attitude_control.get_rate_roll_pid().kI(tuning_value);
attitude_control.get_rate_pitch_pid().kI(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KD:
attitude_control.get_rate_roll_pid().kD(tuning_value);
attitude_control.get_rate_pitch_pid().kD(tuning_value);
break;
// Yaw tuning
case TUNING_STABILIZE_YAW_KP:
attitude_control.get_angle_yaw_p().kP(tuning_value);
break;
case TUNING_YAW_RATE_KP:
attitude_control.get_rate_yaw_pid().kP(tuning_value);
break;
case TUNING_YAW_RATE_KD:
attitude_control.get_rate_yaw_pid().kD(tuning_value);
break;
// Altitude and throttle tuning
case TUNING_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value);
break;
case TUNING_THROTTLE_RATE_KP:
g.p_vel_z.kP(tuning_value);
break;
case TUNING_ACCEL_Z_KP:
g.pid_accel_z.kP(tuning_value);
break;
case TUNING_ACCEL_Z_KI:
g.pid_accel_z.kI(tuning_value);
break;
case TUNING_ACCEL_Z_KD:
g.pid_accel_z.kD(tuning_value);
break;
// Loiter and navigation tuning
case TUNING_LOITER_POSITION_KP:
g.p_pos_xy.kP(tuning_value);
break;
case TUNING_VEL_XY_KP:
g.pi_vel_xy.kP(tuning_value);
break;
case TUNING_VEL_XY_KI:
g.pi_vel_xy.kI(tuning_value);
break;
case TUNING_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.get_control_in());
break;
// Acro roll pitch gain
case TUNING_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case TUNING_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
case TUNING_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.get_control_in() - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
case TUNING_CIRCLE_RATE:
// set circle rate up to approximately 45 deg/sec in either direction
circle_nav.set_rate((float)g.rc_6.get_control_in()/25.0f-20.0f);
break;
case TUNING_RANGEFINDER_GAIN:
// set rangefinder gain
g.rangefinder_gain.set(tuning_value);
break;
#if 0
// disabled for now - we need accessor functions
case TUNING_EKF_VERTICAL_POS:
// Tune the EKF that is being used
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value;
}
break;
case TUNING_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value;
}
break;
case TUNING_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._accNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._accNoise = tuning_value;
}
break;
#endif
case TUNING_RC_FEEL_RP:
// roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.get_control_in() / 10;
break;
case TUNING_RATE_PITCH_KP:
attitude_control.get_rate_pitch_pid().kP(tuning_value);
break;
case TUNING_RATE_PITCH_KI:
attitude_control.get_rate_pitch_pid().kI(tuning_value);
break;
case TUNING_RATE_PITCH_KD:
attitude_control.get_rate_pitch_pid().kD(tuning_value);
break;
case TUNING_RATE_ROLL_KP:
attitude_control.get_rate_roll_pid().kP(tuning_value);
break;
case TUNING_RATE_ROLL_KI:
attitude_control.get_rate_roll_pid().kI(tuning_value);
break;
case TUNING_RATE_ROLL_KD:
attitude_control.get_rate_roll_pid().kD(tuning_value);
break;
case TUNING_RATE_MOT_YAW_HEADROOM:
motors.set_yaw_headroom(tuning_value*1000);
break;
case TUNING_RATE_YAW_FILT:
attitude_control.get_rate_yaw_pid().filt_hz(tuning_value);
break;
}
}
#endif