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Copter: Change CH6_Tuning #defines into Enum

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Robert Lefebvre 2015-03-24 16:43:58 -04:00 committed by Randy Mackay
parent 167507e28b
commit 39d23519b1
2 changed files with 80 additions and 84 deletions
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90
ArduCopter/defines.h
View File

@ -113,53 +113,49 @@ enum aux_sw_func {
#define NUM_MODES 18 #define NUM_MODES 18
// CH_6 Tuning // Tuning enumeration
// ----------- enum tuning_func {
#define CH6_NONE 0 // no tuning performed TUNING_NONE = 0, // 0,
#define CH6_STABILIZE_ROLL_PITCH_KP 1 // stabilize roll/pitch angle controller's P term TUNING_STABILIZE_ROLL_PITCH_KP, // 1, stabilize roll/pitch angle controller's P term
#define CH6_RATE_ROLL_PITCH_KP 4 // body frame roll/pitch rate controller's P term TUNING_STABILIZE_YAW_KP = 3, // 3, stabilize yaw heading controller's P term
#define CH6_RATE_ROLL_PITCH_KI 5 // body frame roll/pitch rate controller's I term TUNING_RATE_ROLL_PITCH_KP, // 4, body frame roll/pitch rate controller's P term
#define CH6_RATE_ROLL_PITCH_KD 21 // body frame roll/pitch rate controller's D term TUNING_RATE_ROLL_PITCH_KI, // 5, body frame roll/pitch rate controller's I term
#define CH6_STABILIZE_YAW_KP 3 // stabilize yaw heading controller's P term TUNING_YAW_RATE_KP, // 6, body frame yaw rate controller's P term
#define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term TUNING_THROTTLE_RATE_KP, // 7, throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term TUNING_WP_SPEED = 10, // 10, maximum speed to next way point (0 to 10m/s)
#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate) TUNING_LOITER_POSITION_KP = 12, // 12, loiter distance controller's P term (position error to speed)
#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output) TUNING_HELI_EXTERNAL_GYRO, // 13, TradHeli specific external tail gyro gain
#define CH6_ACCEL_Z_KP 34 // accel based throttle controller's P term TUNING_ALTITUDE_HOLD_KP, // 14, altitude hold controller's P term (alt error to desired rate)
#define CH6_ACCEL_Z_KI 35 // accel based throttle controller's I term TUNING_RATE_ROLL_PITCH_KD = 21, // 21, body frame roll/pitch rate controller's D term
#define CH6_ACCEL_Z_KD 36 // accel based throttle controller's D term TUNING_VEL_XY_KP, // 22, loiter rate controller's P term (speed error to tilt angle)
#define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed) TUNING_ACRO_RP_KP = 25, // 25, acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_VEL_XY_KP 22 // loiter rate controller's P term (speed error to tilt angle) TUNING_YAW_RATE_KD, // 26, body frame yaw rate controller's D term
#define CH6_VEL_XY_KI 28 // loiter rate controller's I term (speed error to tilt angle) TUNING_VEL_XY_KI = 28, // 28, loiter rate controller's I term (speed error to tilt angle)
#define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s) TUNING_AHRS_YAW_KP = 30, // 30, ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate TUNING_AHRS_KP, // 31, accelerometer effect on roll/pitch angle (0=low)
#define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate TUNING_ACCEL_Z_KP = 34, // 34, accel based throttle controller's P term
#define CH6_RELAY 9 // deprecated -- remove TUNING_ACCEL_Z_KI, // 35, accel based throttle controller's I term
#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain TUNING_ACCEL_Z_KD, // 36, accel based throttle controller's D term
#define CH6_OPTFLOW_KP 17 // deprecated -- remove TUNING_DECLINATION = 38, // 38, compass declination in radians
#define CH6_OPTFLOW_KI 18 // deprecated -- remove TUNING_CIRCLE_RATE, // 39, circle turn rate in degrees (hard coded to about 45 degrees in either direction)
#define CH6_OPTFLOW_KD 19 // deprecated -- remove TUNING_ACRO_YAW_KP, // 40, acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_AHRS_YAW_KP 30 // deprecated -- remove TUNING_SONAR_GAIN, // 41, sonar gain
#define CH6_AHRS_KP 31 // deprecated -- remove TUNING_EKF_VERTICAL_POS, // 42, EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
#define CH6_INAV_TC 32 // deprecated -- remove TUNING_EKF_HORIZONTAL_POS, // 43, EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
#define CH6_DECLINATION 38 // compass declination in radians TUNING_EKF_ACCEL_NOISE, // 44, EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
#define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction) TUNING_RC_FEEL_RP, // 45, roll-pitch input smoothing
#define CH6_SONAR_GAIN 41 // sonar gain TUNING_RATE_PITCH_KP, // 46, body frame pitch rate controller's P term
#define CH6_EKF_VERTICAL_POS 42 // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default TUNING_RATE_PITCH_KI, // 47, body frame pitch rate controller's I term
#define CH6_EKF_HORIZONTAL_POS 43 // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default TUNING_RATE_PITCH_KD, // 48, body frame pitch rate controller's D term
#define CH6_EKF_ACCEL_NOISE 44 // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level) TUNING_RATE_ROLL_KP, // 49, body frame roll rate controller's P term
#define CH6_RC_FEEL_RP 45 // roll-pitch input smoothing TUNING_RATE_ROLL_KI, // 50, body frame roll rate controller's I term
#define CH6_RATE_PITCH_KP 46 // body frame pitch rate controller's P term TUNING_RATE_ROLL_KD, // 51, body frame roll rate controller's D term
#define CH6_RATE_PITCH_KI 47 // body frame pitch rate controller's I term TUNING_RATE_PITCH_FF, // 52, body frame pitch rate controller FF term
#define CH6_RATE_PITCH_KD 48 // body frame pitch rate controller's D term TUNING_RATE_ROLL_FF, // 53, body frame roll rate controller FF term
#define CH6_RATE_ROLL_KP 49 // body frame roll rate controller's P term TUNING_RATE_YAW_FF, // 54, body frame yaw rate controller FF term
#define CH6_RATE_ROLL_KI 50 // body frame roll rate controller's I term TUNING_RATE_MOT_YAW_HEADROOM, // 55, motors yaw headroom minimum
#define CH6_RATE_ROLL_KD 51 // body frame roll rate controller's D term TUNING_RATE_YAW_FILT // 56, yaw rate input filter
#define CH6_RATE_PITCH_FF 52 // body frame pitch rate controller FF term };
#define CH6_RATE_ROLL_FF 53 // body frame roll rate controller FF term
#define CH6_RATE_YAW_FF 54 // body frame yaw rate controller FF term
#define CH6_RATE_MOT_YAW_HEADROOM 55 // motors yaw headroom minimum
#define CH6_RATE_YAW_FILT 56 // yaw rate input filter
// Acro Trainer types // Acro Trainer types
#define ACRO_TRAINER_DISABLED 0 #define ACRO_TRAINER_DISABLED 0

74
ArduCopter/tuning.pde
View File

@ -22,173 +22,173 @@ static void tuning() {
switch(g.radio_tuning) { switch(g.radio_tuning) {
// Roll, Pitch tuning // Roll, Pitch tuning
case CH6_STABILIZE_ROLL_PITCH_KP: case TUNING_STABILIZE_ROLL_PITCH_KP:
g.p_stabilize_roll.kP(tuning_value); g.p_stabilize_roll.kP(tuning_value);
g.p_stabilize_pitch.kP(tuning_value); g.p_stabilize_pitch.kP(tuning_value);
break; break;
case CH6_RATE_ROLL_PITCH_KP: case TUNING_RATE_ROLL_PITCH_KP:
g.pid_rate_roll.kP(tuning_value); g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value); g.pid_rate_pitch.kP(tuning_value);
break; break;
case CH6_RATE_ROLL_PITCH_KI: case TUNING_RATE_ROLL_PITCH_KI:
g.pid_rate_roll.kI(tuning_value); g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value); g.pid_rate_pitch.kI(tuning_value);
break; break;
case CH6_RATE_ROLL_PITCH_KD: case TUNING_RATE_ROLL_PITCH_KD:
g.pid_rate_roll.kD(tuning_value); g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value); g.pid_rate_pitch.kD(tuning_value);
break; break;
// Yaw tuning // Yaw tuning
case CH6_STABILIZE_YAW_KP: case TUNING_STABILIZE_YAW_KP:
g.p_stabilize_yaw.kP(tuning_value); g.p_stabilize_yaw.kP(tuning_value);
break; break;
case CH6_YAW_RATE_KP: case TUNING_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value); g.pid_rate_yaw.kP(tuning_value);
break; break;
case CH6_YAW_RATE_KD: case TUNING_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value); g.pid_rate_yaw.kD(tuning_value);
break; break;
// Altitude and throttle tuning // Altitude and throttle tuning
case CH6_ALTITUDE_HOLD_KP: case TUNING_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value); g.p_alt_hold.kP(tuning_value);
break; break;
case CH6_THROTTLE_RATE_KP: case TUNING_THROTTLE_RATE_KP:
g.p_vel_z.kP(tuning_value); g.p_vel_z.kP(tuning_value);
break; break;
case CH6_ACCEL_Z_KP: case TUNING_ACCEL_Z_KP:
g.pid_accel_z.kP(tuning_value); g.pid_accel_z.kP(tuning_value);
break; break;
case CH6_ACCEL_Z_KI: case TUNING_ACCEL_Z_KI:
g.pid_accel_z.kI(tuning_value); g.pid_accel_z.kI(tuning_value);
break; break;
case CH6_ACCEL_Z_KD: case TUNING_ACCEL_Z_KD:
g.pid_accel_z.kD(tuning_value); g.pid_accel_z.kD(tuning_value);
break; break;
// Loiter and navigation tuning // Loiter and navigation tuning
case CH6_LOITER_POSITION_KP: case TUNING_LOITER_POSITION_KP:
g.p_pos_xy.kP(tuning_value); g.p_pos_xy.kP(tuning_value);
break; break;
case CH6_VEL_XY_KP: case TUNING_VEL_XY_KP:
g.pi_vel_xy.kP(tuning_value); g.pi_vel_xy.kP(tuning_value);
break; break;
case CH6_VEL_XY_KI: case TUNING_VEL_XY_KI:
g.pi_vel_xy.kI(tuning_value); g.pi_vel_xy.kI(tuning_value);
break; break;
case CH6_WP_SPEED: case TUNING_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s // set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.control_in); wp_nav.set_speed_xy(g.rc_6.control_in);
break; break;
// Acro roll pitch gain // Acro roll pitch gain
case CH6_ACRO_RP_KP: case TUNING_ACRO_RP_KP:
g.acro_rp_p = tuning_value; g.acro_rp_p = tuning_value;
break; break;
// Acro yaw gain // Acro yaw gain
case CH6_ACRO_YAW_KP: case TUNING_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value; g.acro_yaw_p = tuning_value;
break; break;
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO: case TUNING_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(g.rc_6.control_in); motors.ext_gyro_gain(g.rc_6.control_in);
break; break;
case CH6_RATE_PITCH_FF: case TUNING_RATE_PITCH_FF:
g.pid_rate_pitch.ff(tuning_value); g.pid_rate_pitch.ff(tuning_value);
break; break;
case CH6_RATE_ROLL_FF: case TUNING_RATE_ROLL_FF:
g.pid_rate_roll.ff(tuning_value); g.pid_rate_roll.ff(tuning_value);
break; break;
case CH6_RATE_YAW_FF: case TUNING_RATE_YAW_FF:
g.pid_rate_yaw.ff(tuning_value); g.pid_rate_yaw.ff(tuning_value);
break; break;
#endif #endif
case CH6_DECLINATION: case TUNING_DECLINATION:
// set declination to +-20degrees // set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.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 compass.set_declination(ToRad((2.0f * g.rc_6.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; break;
case CH6_CIRCLE_RATE: case TUNING_CIRCLE_RATE:
// set circle rate // set circle rate
circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break; break;
case CH6_SONAR_GAIN: case TUNING_SONAR_GAIN:
// set sonar gain // set sonar gain
g.sonar_gain.set(tuning_value); g.sonar_gain.set(tuning_value);
break; break;
#if 0 #if 0
// disabled for now - we need accessor functions // disabled for now - we need accessor functions
case CH6_EKF_VERTICAL_POS: case TUNING_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced) // EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value; ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
break; break;
case CH6_EKF_HORIZONTAL_POS: case TUNING_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced) // EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value; ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
break; break;
case CH6_EKF_ACCEL_NOISE: case TUNING_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less) // EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value; ahrs.get_NavEKF()._accNoise = tuning_value;
break; break;
#endif #endif
case CH6_RC_FEEL_RP: case TUNING_RC_FEEL_RP:
// roll-pitch input smoothing // roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.control_in / 10; g.rc_feel_rp = g.rc_6.control_in / 10;
break; break;
case CH6_RATE_PITCH_KP: case TUNING_RATE_PITCH_KP:
g.pid_rate_pitch.kP(tuning_value); g.pid_rate_pitch.kP(tuning_value);
break; break;
case CH6_RATE_PITCH_KI: case TUNING_RATE_PITCH_KI:
g.pid_rate_pitch.kI(tuning_value); g.pid_rate_pitch.kI(tuning_value);
break; break;
case CH6_RATE_PITCH_KD: case TUNING_RATE_PITCH_KD:
g.pid_rate_pitch.kD(tuning_value); g.pid_rate_pitch.kD(tuning_value);
break; break;
case CH6_RATE_ROLL_KP: case TUNING_RATE_ROLL_KP:
g.pid_rate_roll.kP(tuning_value); g.pid_rate_roll.kP(tuning_value);
break; break;
case CH6_RATE_ROLL_KI: case TUNING_RATE_ROLL_KI:
g.pid_rate_roll.kI(tuning_value); g.pid_rate_roll.kI(tuning_value);
break; break;
case CH6_RATE_ROLL_KD: case TUNING_RATE_ROLL_KD:
g.pid_rate_roll.kD(tuning_value); g.pid_rate_roll.kD(tuning_value);
break; break;
case CH6_RATE_MOT_YAW_HEADROOM: case TUNING_RATE_MOT_YAW_HEADROOM:
motors.set_yaw_headroom(tuning_value*1000); motors.set_yaw_headroom(tuning_value*1000);
break; break;
case CH6_RATE_YAW_FILT: case TUNING_RATE_YAW_FILT:
g.pid_rate_yaw.filt_hz(tuning_value); g.pid_rate_yaw.filt_hz(tuning_value);
break; break;
} }