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Copter: Autotune: Fail when bad tune is expected

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Leonard Hall 2024-02-20 13:57:19 +10:30 committed by Peter Barker
parent 13fb69be7c
commit 54618dd903
1 changed files with 9 additions and 1 deletions
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10
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -932,13 +932,18 @@ void AC_AutoTune_Multi::updating_rate_p_up_d_down(float &tune_d, float tune_d_mi
if (tune_d <= tune_d_min) {
tune_d = tune_d_min;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Rate D Gain Determination Failed");
mode = FAILED;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
}
// decrease P gain to match D gain reduction
tune_p -= tune_p*tune_p_step_ratio;
// do not decrease the P term past the minimum
if (tune_p <= tune_p_min) {
tune_p = tune_p_min;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Rate P Gain Determination Failed");
mode = FAILED;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
}
// cancel change in direction
positive_direction = !positive_direction;
@ -987,6 +992,9 @@ void AC_AutoTune_Multi::updating_angle_p_down(float &tune_p, float tune_p_min, f
tune_p = tune_p_min;
counter = AUTOTUNE_SUCCESS_COUNT;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
gcs().send_text(MAV_SEVERITY_CRITICAL, "AutoTune: Angle P Gain Determination Failed");
mode = FAILED;
LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
}
}
}