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AC_AutoTune: Move rate limit to AC_AttitudeControl

This commit is contained in:
Leonard Hall 2021-12-21 15:55:44 +10:30 committed by Andrew Tridgell
parent 0bdf34dc57
commit 5a97a232e7
1 changed files with 0 additions and 12 deletions
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12
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -529,10 +529,6 @@ void AC_AutoTune::control_attitude()
switch (axis) { switch (axis) {
case ROLL: { case ROLL: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
const float roll_rate_max_cds = degrees(attitude_control->get_ang_vel_roll_max_rads()) * 100;
if (is_positive(roll_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, roll_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
@ -543,10 +539,6 @@ void AC_AutoTune::control_attitude()
} }
case PITCH: { case PITCH: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
const float pitch_rate_max_cds = degrees(attitude_control->get_ang_vel_pitch_max_rads()) * 100;
if (is_positive(pitch_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, pitch_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
@ -557,10 +549,6 @@ void AC_AutoTune::control_attitude()
} }
case YAW: { case YAW: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS);
const float yaw_rate_max_cds = degrees(attitude_control->get_ang_vel_yaw_max_rads()) * 100;
if (is_positive(yaw_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, yaw_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD;