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Plane: added turn corrdination to autotune yaw rate tuning

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this makes it much easier to do a yaw rate autotune, and also means
you don't need to use the rudder stick at all, as the yaw controller
is already exercised nicely with roll movements, so overall the tune
is faster and more accurate as less cross-axis coupling
This commit is contained in:
Andrew Tridgell 2022-11-29 15:49:36 +11:00
parent fc1a70264d
commit 49d0a4906a
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/Attitude.cpp
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@ -721,7 +721,9 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
// user is doing an AUTOTUNE with yaw rate control
const float rudd_expo = rudder_in_expo(true);
const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
commanded_rudder = yawController.get_rate_out(yaw_rate, speed_scaler, false);
// add in the corrdinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
const float coordination_yaw_rate = degrees(GRAVITY_MSS * tanf(radians(nav_roll_cd*0.01f))/MAX(aparm.airspeed_min,smoothed_airspeed));
commanded_rudder = yawController.get_rate_out(yaw_rate+coordination_yaw_rate, speed_scaler, false);
using_rate_controller = true;
} else {
if (control_mode == &mode_stabilize && rudder_in != 0) {