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Copter: split ACRO_P into ACRO_RP_P and ACRO_YAW_P

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This commit is contained in:
Randy Mackay 2013-08-04 20:22:12 +09:00
parent 82082e044c
commit 49dbdce89c
6 changed files with 41 additions and 26 deletions
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11
ArduCopter/ArduCopter.pde
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@ -2212,9 +2212,14 @@ static void tuning(){
wp_nav.set_horizontal_velocity(g.rc_6.control_in); wp_nav.set_horizontal_velocity(g.rc_6.control_in);
break; break;
// Acro and other tuning // Acro roll pitch gain
case CH6_ACRO_KP: case CH6_ACRO_RP_KP:
g.acro_p = tuning_value; g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break; break;
case CH6_RELAY: case CH6_RELAY:

20
ArduCopter/Attitude.pde
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@ -73,7 +73,7 @@ get_stabilize_yaw(int32_t target_angle)
static void static void
get_acro_roll(int32_t target_rate) get_acro_roll(int32_t target_rate)
{ {
target_rate = target_rate * g.acro_p; target_rate = target_rate * g.acro_rp_p;
// set targets for rate controller // set targets for rate controller
set_roll_rate_target(target_rate, BODY_FRAME); set_roll_rate_target(target_rate, BODY_FRAME);
@ -82,7 +82,7 @@ get_acro_roll(int32_t target_rate)
static void static void
get_acro_pitch(int32_t target_rate) get_acro_pitch(int32_t target_rate)
{ {
target_rate = target_rate * g.acro_p; target_rate = target_rate * g.acro_rp_p;
// set targets for rate controller // set targets for rate controller
set_pitch_rate_target(target_rate, BODY_FRAME); set_pitch_rate_target(target_rate, BODY_FRAME);
@ -91,7 +91,7 @@ get_acro_pitch(int32_t target_rate)
static void static void
get_acro_yaw(int32_t target_rate) get_acro_yaw(int32_t target_rate)
{ {
target_rate = target_rate * g.acro_p; target_rate = target_rate * g.acro_yaw_p;
// set targets for rate controller // set targets for rate controller
set_yaw_rate_target(target_rate, BODY_FRAME); set_yaw_rate_target(target_rate, BODY_FRAME);
@ -154,7 +154,7 @@ get_roll_rate_stabilized_bf(int32_t stick_angle)
static float angle_error = 0; static float angle_error = 0;
// convert the input to the desired body frame roll rate // convert the input to the desired body frame roll rate
int32_t rate_request = stick_angle * g.acro_p; int32_t rate_request = stick_angle * g.acro_rp_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_roll_rate; rate_request += acro_roll_rate;
@ -193,7 +193,7 @@ get_pitch_rate_stabilized_bf(int32_t stick_angle)
static float angle_error = 0; static float angle_error = 0;
// convert the input to the desired body frame pitch rate // convert the input to the desired body frame pitch rate
int32_t rate_request = stick_angle * g.acro_p; int32_t rate_request = stick_angle * g.acro_rp_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_pitch_rate; rate_request += acro_pitch_rate;
@ -232,7 +232,7 @@ get_yaw_rate_stabilized_bf(int32_t stick_angle)
static float angle_error = 0; static float angle_error = 0;
// convert the input to the desired body frame yaw rate // convert the input to the desired body frame yaw rate
int32_t rate_request = stick_angle * g.acro_p; int32_t rate_request = stick_angle * g.acro_yaw_p;
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
rate_request += acro_yaw_rate; rate_request += acro_yaw_rate;
@ -271,7 +271,7 @@ get_roll_rate_stabilized_ef(int32_t stick_angle)
int32_t angle_error = 0; int32_t angle_error = 0;
// convert the input to the desired roll rate // convert the input to the desired roll rate
int32_t target_rate = stick_angle * g.acro_p - (acro_roll * g.acro_balance_roll); int32_t target_rate = stick_angle * g.acro_rp_p - (acro_roll * g.acro_balance_roll);
// convert the input to the desired roll rate // convert the input to the desired roll rate
acro_roll += target_rate * G_Dt; acro_roll += target_rate * G_Dt;
@ -312,7 +312,7 @@ get_pitch_rate_stabilized_ef(int32_t stick_angle)
int32_t angle_error = 0; int32_t angle_error = 0;
// convert the input to the desired pitch rate // convert the input to the desired pitch rate
int32_t target_rate = stick_angle * g.acro_p - (acro_pitch * g.acro_balance_pitch); int32_t target_rate = stick_angle * g.acro_rp_p - (acro_pitch * g.acro_balance_pitch);
// convert the input to the desired pitch rate // convert the input to the desired pitch rate
acro_pitch += target_rate * G_Dt; acro_pitch += target_rate * G_Dt;
@ -354,7 +354,7 @@ get_yaw_rate_stabilized_ef(int32_t stick_angle)
int32_t angle_error = 0; int32_t angle_error = 0;
// convert the input to the desired yaw rate // convert the input to the desired yaw rate
int32_t target_rate = stick_angle * g.acro_p; int32_t target_rate = stick_angle * g.acro_yaw_p;
// convert the input to the desired yaw rate // convert the input to the desired yaw rate
nav_yaw += target_rate * G_Dt; nav_yaw += target_rate * G_Dt;
@ -879,7 +879,7 @@ static void get_look_ahead_yaw(int16_t pilot_yaw)
nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course_cd, AUTO_YAW_SLEW_RATE); nav_yaw = get_yaw_slew(nav_yaw, g_gps->ground_course_cd, AUTO_YAW_SLEW_RATE);
get_stabilize_yaw(wrap_360_cd(nav_yaw + pilot_yaw)); // Allow pilot to "skid" around corners up to 45 degrees get_stabilize_yaw(wrap_360_cd(nav_yaw + pilot_yaw)); // Allow pilot to "skid" around corners up to 45 degrees
}else{ }else{
nav_yaw += pilot_yaw * g.acro_p * G_Dt; nav_yaw += pilot_yaw * g.acro_yaw_p * G_Dt;
nav_yaw = wrap_360_cd(nav_yaw); nav_yaw = wrap_360_cd(nav_yaw);
get_stabilize_yaw(nav_yaw); get_stabilize_yaw(nav_yaw);
} }

8
ArduCopter/Parameters.h
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@ -233,7 +233,7 @@ public:
// //
// 220: PI/D Controllers // 220: PI/D Controllers
// //
k_param_acro_p = 221, k_param_acro_rp_p = 221,
k_param_axis_lock_p, // remove k_param_axis_lock_p, // remove
k_param_pid_rate_roll, k_param_pid_rate_roll,
k_param_pid_rate_pitch, k_param_pid_rate_pitch,
@ -255,7 +255,8 @@ public:
k_param_acro_balance_pitch_old, // 240 - remove k_param_acro_balance_pitch_old, // 240 - remove
k_param_pid_throttle_accel, k_param_pid_throttle_accel,
k_param_acro_balance_roll, k_param_acro_balance_roll,
k_param_acro_balance_pitch, // 243 k_param_acro_balance_pitch,
k_param_acro_yaw_p, // 244
// 254,255: reserved // 254,255: reserved
}; };
@ -377,7 +378,8 @@ public:
AP_Int16 rc_speed; // speed of fast RC Channels in Hz AP_Int16 rc_speed; // speed of fast RC Channels in Hz
// Acro parameters // Acro parameters
AP_Float acro_p; AP_Float acro_rp_p;
AP_Float acro_yaw_p;
AP_Float acro_balance_roll; AP_Float acro_balance_roll;
AP_Float acro_balance_pitch; AP_Float acro_balance_pitch;
AP_Int8 acro_trainer; AP_Int8 acro_trainer;

17
ArduCopter/Parameters.pde
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@ -378,7 +378,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Channel 6 Tuning // @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard // @User: Standard
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,37:Throttle Rate kD,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,32:INAV_TC,38:Declination,39:Circle Rate
GSCALAR(radio_tuning, "TUNE", 0), GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW // @Param: TUNE_LOW
@ -514,12 +514,19 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED), GSCALAR(rc_speed, "RC_SPEED", RC_FAST_SPEED),
// @Param: ACRO_P // @Param: ACRO_RP_P
// @DisplayName: Acro P gain // @DisplayName: Acro Roll and Pitch P gain
// @Description: Used to convert pilot roll, pitch and yaw input into a dssired rate of rotation in ACRO mode. Higher values mean faster rate of rotation. // @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.
// @Range: 1 10 // @Range: 1 10
// @User: Standard // @User: Standard
GSCALAR(acro_p, "ACRO_P", ACRO_P), GSCALAR(acro_rp_p, "ACRO_RP_P", ACRO_RP_P),
// @Param: ACRO_YAW_P
// @DisplayName: Acro Yaw P gain
// @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.
// @Range: 1 10
// @User: Standard
GSCALAR(acro_yaw_p, "ACRO_YAW_P", ACRO_YAW_P),
// @Param: ACRO_BAL_ROLL // @Param: ACRO_BAL_ROLL
// @DisplayName: Acro Balance Roll // @DisplayName: Acro Balance Roll

8
ArduCopter/config.h
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@ -758,12 +758,12 @@
// //
// Acro mode gains // Acro mode gains
#ifndef ACRO_P #ifndef ACRO_RP_P
# define ACRO_P 4.5f # define ACRO_RP_P 4.5f
#endif #endif
#ifndef AXIS_LOCK_ENABLED #ifndef ACRO_YAW_P
# define AXIS_LOCK_ENABLED ENABLED # define ACRO_YAW_P 4.5f
#endif #endif
// Stabilize (angle controller) gains // Stabilize (angle controller) gains

3
ArduCopter/defines.h
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@ -164,7 +164,8 @@
#define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle) #define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle) #define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
#define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s) #define CH6_WP_SPEED 10 // maximum speed to next way point (0 to 10m/s)
#define CH6_ACRO_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate #define CH6_ACRO_RP_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_ACRO_YAW_KP 40 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
#define CH6_RELAY 9 // switch relay on if ch6 high, off if low #define CH6_RELAY 9 // switch relay on if ch6 high, off if low
#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain #define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
#define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle) #define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)