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APM_Control: adjust fixed wing filter defaults 

adjust defaults based on discussions with Paul, and initialise the
FLTT value based on the controller time constant
This commit is contained in:
Andrew Tridgell 2021-07-05 10:50:49 +10:00 committed by Randy Mackay
parent 07acfd49b2
commit 3b64d41408
4 changed files with 9 additions and 3 deletions
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6
libraries/APM_Control/AP_AutoTune.cpp
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@ -373,6 +373,9 @@ void AP_AutoTune::update(AP_Logger::PID_Info &pinfo, float scaler, float angle_e
rpid.kD().set(D); rpid.kD().set(D);
rpid.kI().set(MAX(P*AUTOTUNE_I_RATIO, (FF / TRIM_TCONST))); rpid.kI().set(MAX(P*AUTOTUNE_I_RATIO, (FF / TRIM_TCONST)));
// setup target filter to be suitable for time constant
rpid.filt_T_hz().set(10.0/(current.tau * 2 * M_PI));
current.FF = FF; current.FF = FF;
current.P = P; current.P = P;
current.I = rpid.kI().get(); current.I = rpid.kI().get();
@ -473,6 +476,7 @@ void AP_AutoTune::save_gains(const ATGains &v)
save_float_if_changed(rpid.kI(), v.I); save_float_if_changed(rpid.kI(), v.I);
save_float_if_changed(rpid.kD(), v.D); save_float_if_changed(rpid.kD(), v.D);
save_float_if_changed(rpid.kIMAX(), v.IMAX); save_float_if_changed(rpid.kIMAX(), v.IMAX);
save_float_if_changed(rpid.filt_T_hz(), v.flt_T);
last_save = get_gains(current); last_save = get_gains(current);
current = tmp; current = tmp;
} }
@ -488,6 +492,7 @@ AP_AutoTune::ATGains AP_AutoTune::get_gains(const ATGains &v)
ret.I = rpid.kI(); ret.I = rpid.kI();
ret.D = rpid.kD(); ret.D = rpid.kD();
ret.IMAX = rpid.kIMAX(); ret.IMAX = rpid.kIMAX();
ret.flt_T = rpid.filt_T_hz();
return ret; return ret;
} }
@ -502,6 +507,7 @@ void AP_AutoTune::set_gains(const ATGains &v)
rpid.kI().set(v.I); rpid.kI().set(v.I);
rpid.kD().set(v.D); rpid.kD().set(v.D);
rpid.kIMAX().set(v.IMAX); rpid.kIMAX().set(v.IMAX);
rpid.filt_T_hz().set(v.flt_T);
} }
/* /*

2
libraries/APM_Control/AP_AutoTune.h
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@ -12,7 +12,7 @@ public:
AP_Float tau; AP_Float tau;
AP_Int16 rmax_pos; AP_Int16 rmax_pos;
AP_Int16 rmax_neg; AP_Int16 rmax_neg;
float FF, P, I, D, IMAX; float FF, P, I, D, IMAX, flt_T;
}; };
enum ATType { enum ATType {

2
libraries/APM_Control/AP_PitchController.h
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@ -53,7 +53,7 @@ private:
AP_Float _roll_ff; AP_Float _roll_ff;
uint32_t _last_t; uint32_t _last_t;
float _last_out; float _last_out;
AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 1.5, 7, 4, 0.02, 150, 1}; AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1};
float angle_err_deg; float angle_err_deg;
AP_Logger::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;

2
libraries/APM_Control/AP_RollController.h
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@ -58,7 +58,7 @@ private:
bool failed_autotune_alloc; bool failed_autotune_alloc;
uint32_t _last_t; uint32_t _last_t;
float _last_out; float _last_out;
AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 7, 4, 0.02, 150, 1}; AC_PID rate_pid{0.08, 0.15, 0, 0.345, 0.666, 3, 0, 12, 0.02, 150, 1};
float angle_err_deg; float angle_err_deg;
AP_Logger::PID_Info _pid_info; AP_Logger::PID_Info _pid_info;