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Copter: autotune log when limits reached

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This commit is contained in:
Randy Mackay 2013-10-17 11:05:31 +09:00
parent c59dee045c
commit 2e75d5dec3
2 changed files with 9 additions and 1 deletions
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9
ArduCopter/auto_tune.pde
View File

@ -37,7 +37,6 @@
#define AUTO_TUNE_RD_MAX 0.015f // maximum Rate D value
#define AUTO_TUNE_RP_MIN 0.05f // minimum Rate P value
#define AUTO_TUNE_RP_MAX 0.25f // maximum Rate P value
#define AUTO_TUNE_SP_MIN 1.0f // minimum Stab P value
#define AUTO_TUNE_SP_MAX 15.0f // maximum Stab P value
#define AUTO_TUNE_SUCCESS_COUNT 4 // how many successful iterations we need to freeze at current gains
@ -435,6 +434,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_roll_rd >= AUTO_TUNE_RD_MAX) {
tune_roll_rd = AUTO_TUNE_RD_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}else{
tune_pitch_rd += AUTO_TUNE_RD_STEP*2.0f;
@ -442,6 +442,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_pitch_rd >= AUTO_TUNE_RD_MAX) {
tune_pitch_rd = AUTO_TUNE_RD_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}
@ -481,6 +482,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_roll_rd <= AUTO_TUNE_RD_MIN) {
tune_roll_rd = AUTO_TUNE_RD_MIN;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}else{
tune_pitch_rd -= AUTO_TUNE_RD_STEP;
@ -488,6 +490,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_pitch_rd <= AUTO_TUNE_RD_MIN) {
tune_pitch_rd = AUTO_TUNE_RD_MIN;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}
@ -507,6 +510,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_roll_rp >= AUTO_TUNE_RP_MAX) {
tune_roll_rp = AUTO_TUNE_RP_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}else{
tune_pitch_rp += AUTO_TUNE_RP_STEP;
@ -514,6 +518,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_pitch_rp >= AUTO_TUNE_RP_MAX) {
tune_pitch_rp = AUTO_TUNE_RP_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}
@ -533,6 +538,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_roll_sp >= AUTO_TUNE_SP_MAX) {
tune_roll_sp = AUTO_TUNE_SP_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}else{
tune_pitch_sp += AUTO_TUNE_SP_STEP;
@ -540,6 +546,7 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
if (tune_pitch_sp >= AUTO_TUNE_SP_MAX) {
tune_pitch_sp = AUTO_TUNE_SP_MAX;
auto_tune_counter = AUTO_TUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}

1
ArduCopter/defines.h
View File

@ -341,6 +341,7 @@ enum ap_message {
#define DATA_AUTOTUNE_OFF 31
#define DATA_AUTOTUNE_SAVEDGAINS 32
#define DATA_AUTOTUNE_ABANDONED 33
#define DATA_AUTOTUNE_REACHED_LIMIT 34
/* ************************************************************** */
/* Expansion PIN's that people can use for various things. */