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Copter: autotune bug fix for starting autotune

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This commit is contained in:
Randy Mackay 2013-10-20 13:54:36 +09:00
parent 6d76652e48
commit 5499c6ea6d
2 changed files with 16 additions and 4 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -1593,8 +1593,8 @@ bool set_roll_pitch_mode(uint8_t new_roll_pitch_mode)
case ROLL_PITCH_AUTOTUNE: case ROLL_PITCH_AUTOTUNE:
// only enter autotune mode from stabilized roll-pitch mode // only enter autotune mode from stabilized roll-pitch mode
if (roll_pitch_mode == ROLL_PITCH_STABLE) { if (roll_pitch_mode == ROLL_PITCH_STABLE) {
roll_pitch_initialised = true; // auto_tune_start returns true if it wants the roll-pitch mode changed to autotune
auto_tune_start(); roll_pitch_initialised = auto_tune_start();
} }
break; break;
#endif #endif

16
ArduCopter/auto_tune.pde
View File

@ -191,30 +191,41 @@ static void auto_tune_load_test_gains()
} }
// start an auto tuning session // start an auto tuning session
static void auto_tune_start() // returns true if we should change the roll-pitch mode to ROLL_PITCH_AUTOTUNE
// To-Do: make autotune a flight mode so that this slightly non-intuitive returning of a flag is not required
static bool auto_tune_start()
{ {
bool requires_autotune_rp_mode = false;
switch (auto_tune_state.mode) { switch (auto_tune_state.mode) {
case AUTO_TUNE_MODE_UNINITIALISED: case AUTO_TUNE_MODE_UNINITIALISED:
// initialise gains and axis because this is our first time // initialise gains and axis because this is our first time
auto_tune_initialise(); auto_tune_initialise();
auto_tune_update_gcs(AUTO_TUNE_MESSAGE_STARTED); auto_tune_update_gcs(AUTO_TUNE_MESSAGE_STARTED);
auto_tune_state.mode = AUTO_TUNE_MODE_TUNING; auto_tune_state.mode = AUTO_TUNE_MODE_TUNING;
requires_autotune_rp_mode = true;
break; break;
case AUTO_TUNE_MODE_TUNING: case AUTO_TUNE_MODE_TUNING:
// we are restarting tuning so reset gains to tuning-start gains (i.e. low I term) // we are restarting tuning so reset gains to tuning-start gains (i.e. low I term)
auto_tune_intra_test_gains(); auto_tune_intra_test_gains();
Log_Write_Event(DATA_AUTOTUNE_RESTART); Log_Write_Event(DATA_AUTOTUNE_RESTART);
auto_tune_update_gcs(AUTO_TUNE_MESSAGE_STARTED); auto_tune_update_gcs(AUTO_TUNE_MESSAGE_STARTED);
requires_autotune_rp_mode = true;
break; break;
case AUTO_TUNE_MODE_TESTING: case AUTO_TUNE_MODE_TESTING:
// we have completed a tune and are testing the new gains // we have completed a tune and are testing the new gains
auto_tune_load_tuned_gains(); auto_tune_load_tuned_gains();
Log_Write_Event(DATA_AUTOTUNE_TESTING); Log_Write_Event(DATA_AUTOTUNE_TESTING);
requires_autotune_rp_mode = false;
break; break;
case AUTO_TUNE_MODE_FAILED: case AUTO_TUNE_MODE_FAILED:
Log_Write_Event(DATA_AUTOTUNE_ABANDONED); Log_Write_Event(DATA_AUTOTUNE_ABANDONED);
requires_autotune_rp_mode = false;
break; break;
} }
// tell caller we require roll-pitch mode to be changed to ROLL_PITCH_AUTOTUNE
return requires_autotune_rp_mode;
} }
// turn off tuning and return to standard pids // turn off tuning and return to standard pids
@ -629,8 +640,9 @@ get_autotune_roll_pitch_controller(int32_t pilot_roll_angle, int32_t pilot_pitch
tune_pitch_sp = min(tune_roll_sp, tune_pitch_sp); tune_pitch_sp = min(tune_roll_sp, tune_pitch_sp);
// if we've just completed pitch we are done tuning and are moving onto testing // if we've just completed pitch we are done tuning and are moving onto testing
auto_tune_state.mode = AUTO_TUNE_MODE_TESTING; auto_tune_state.mode = AUTO_TUNE_MODE_TESTING;
set_roll_pitch_mode(ROLL_PITCH_STABLE);
auto_tune_update_gcs(AUTO_TUNE_MESSAGE_SUCCESS); auto_tune_update_gcs(AUTO_TUNE_MESSAGE_SUCCESS);
Log_Write_Event(DATA_AUTOTUNE_COMPLETE);
set_roll_pitch_mode(ROLL_PITCH_STABLE);
} }
} }
} }