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added Rate_D tuning value

This commit is contained in:
Jason Short 2012-02-17 15:23:36 -08:00
parent 0d5f7ca072
commit 677df0fe1c
1 changed files with 5 additions and 21 deletions
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26
ArduCopter/ArduCopter.pde
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@ -1926,11 +1926,12 @@ static void tuning(){
case CH6_DAMP:
g.stabilize_d.set(tuning_value);
break;
//tuning_value = (float)g.rc_6.control_in / 100000.0;
//g.rc_6.set_range(0,1000); // 0 to 1
//g.pid_rate_roll.kD(tuning_value);
//g.pid_rate_pitch.kD(tuning_value);
case CH6_RATE_KD:
tuning_value = (float)g.rc_6.control_in / 100000.0;
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_STABILIZE_KP:
@ -1940,26 +1941,21 @@ static void tuning(){
break;
case CH6_STABILIZE_KI:
//g.rc_6.set_range(0,300); // 0 to .3
//tuning_value = (float)g.rc_6.control_in / 1000.0;
g.pi_stabilize_roll.kI(tuning_value);
g.pi_stabilize_pitch.kI(tuning_value);
break;
case CH6_RATE_KP:
//g.rc_6.set_range(40,300); // 0 to .3
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_KI:
//g.rc_6.set_range(0,500); // 0 to .5
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_YAW_KP:
//g.rc_6.set_range(0,1000);
g.pi_stabilize_yaw.kP(tuning_value);
break;
@ -1969,70 +1965,58 @@ static void tuning(){
break;
case CH6_THROTTLE_KP:
//g.rc_6.set_range(0,1000); // 0 to 1
g.pid_throttle.kP(tuning_value);
break;
case CH6_TOP_BOTTOM_RATIO:
//g.rc_6.set_range(800,1000); // .8 to 1
g.top_bottom_ratio = tuning_value;
break;
case CH6_RELAY:
//g.rc_6.set_range(0,1000);
if (g.rc_6.control_in > 525) relay.on();
if (g.rc_6.control_in < 475) relay.off();
break;
case CH6_TRAVERSE_SPEED:
//g.rc_6.set_range(0,1000);
g.waypoint_speed_max = g.rc_6.control_in;
break;
case CH6_LOITER_P:
//g.rc_6.set_range(0,2000);
g.pi_loiter_lat.kP(tuning_value);
g.pi_loiter_lon.kP(tuning_value);
break;
case CH6_NAV_P:
//g.rc_6.set_range(0,4000);
g.pid_nav_lat.kP(tuning_value);
g.pid_nav_lon.kP(tuning_value);
break;
case CH6_NAV_I:
//g.rc_6.set_range(0,500);
g.pid_nav_lat.kI(tuning_value);
g.pid_nav_lon.kI(tuning_value);
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
//g.rc_6.set_range(1000,2000);
g.heli_ext_gyro_gain = tuning_value * 1000;
break;
#endif
case CH6_THR_HOLD_KP:
//g.rc_6.set_range(0,1000); // 0 to 1
g.pi_alt_hold.kP(tuning_value);
break;
case CH6_OPTFLOW_KP:
//g.rc_6.set_range(0,5000); // 0 to 5
g.pid_optflow_roll.kP(tuning_value);
g.pid_optflow_pitch.kP(tuning_value);
break;
case CH6_OPTFLOW_KI:
//g.rc_6.set_range(0,10000); // 0 to 10
g.pid_optflow_roll.kI(tuning_value);
g.pid_optflow_pitch.kI(tuning_value);
break;
case CH6_OPTFLOW_KD:
//g.rc_6.set_range(0,200); // 0 to 0.2
g.pid_optflow_roll.kD(tuning_value);
g.pid_optflow_pitch.kD(tuning_value);
break;