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AC_Autotune_Multi: Use rate step command

This commit is contained in:
Leonard Hall 2024-05-16 23:41:33 +09:30 committed by Peter Barker
parent ddfccb3098
commit 2cddea8d9f
1 changed files with 3 additions and 4 deletions
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7
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -1254,23 +1254,22 @@ void AC_AutoTune_Multi::twitch_test_run(AxisType test_axis, const float dir_sign
attitude_control->input_rate_bf_roll_pitch_yaw(0.0, 0.0, 0.0);
}
} else {
attitude_control->input_rate_bf_roll_pitch_yaw_2(0.0, 0.0, 0.0);
// Testing rate P and D gains so will set body-frame rate targets.
// Rate controller will use existing body-frame rates and convert to motor outputs
// for all axes except the one we override here.
switch (test_axis) {
case AxisType::ROLL:
// override body-frame roll rate
attitude_control->rate_bf_roll_target(dir_sign * target_rate + start_rate);
attitude_control->input_rate_step_bf_roll_pitch_yaw(dir_sign * target_rate + start_rate, 0.0f, 0.0f);
break;
case AxisType::PITCH:
// override body-frame pitch rate
attitude_control->rate_bf_pitch_target(dir_sign * target_rate + start_rate);
attitude_control->input_rate_step_bf_roll_pitch_yaw(0.0f, dir_sign * target_rate + start_rate, 0.0f);
break;
case AxisType::YAW:
case AxisType::YAW_D:
// override body-frame yaw rate
attitude_control->rate_bf_yaw_target(dir_sign * target_rate + start_rate);
attitude_control->input_rate_step_bf_roll_pitch_yaw(0.0f, 0.0f, dir_sign * target_rate + start_rate);
break;
}
}