From 678b81563d715795d0fddb434d4a28330e76a531 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 3 Jul 2023 08:06:38 +1000 Subject: [PATCH] AP_Scripting: added QUIK_MAX_REDUCE parameter to VTOL-quicktune.lua this limits the amount that rate gains can reduce from the original values in a quicktune. Large reductions in rate gains can be incorrectly triggered by a frame resonance or gust of wind which can result in gains that are dangerously low, which can trigger an angle P oscillation --- .../AP_Scripting/applets/VTOL-quicktune.lua | 42 ++++++++++++++++--- 1 file changed, 37 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua index 900bb03fec..55812d0f90 100644 --- a/libraries/AP_Scripting/applets/VTOL-quicktune.lua +++ b/libraries/AP_Scripting/applets/VTOL-quicktune.lua @@ -39,7 +39,7 @@ function bind_add_param(name, idx, default_value) end -- setup quicktune specific parameters -assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 12), 'could not add param table') +assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 13), 'could not add param table') --[[ // @Param: QUIK_ENABLE @@ -150,6 +150,16 @@ local QUIK_AUTO_SAVE = bind_add_param('AUTO_SAVE', 11, 0) --]] local QUIK_RC_FUNC = bind_add_param('RC_FUNC', 12, 300) +--[[ + // @Param: QUIK_MAX_REDUCE + // @DisplayName: Quicktune maximum gain reduction + // @Description: This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. + // @Units: % + // @Range: 0 100 + // @User: Standard +--]] +local QUIK_MAX_REDUCE = bind_add_param('MAX_REDUCE', 13, 20) + local INS_GYRO_FILTER = bind_param("INS_GYRO_FILTER") local RCMAP_ROLL = bind_param("RCMAP_ROLL") @@ -396,6 +406,28 @@ function adjust_gain(pname, value) end end +-- limit a gain change to QUIK_MAX_REDUCE +function limit_gain(pname, value) + local P = params[pname] + local saved_value = param_saved[pname] + local max_reduction = QUIK_MAX_REDUCE:get() + if max_reduction >= 0 and max_reduction < 100 and saved_value > 0 then + -- check if we exceeded gain reduction + local reduction_pct = 100.0 * (saved_value - value) / saved_value + if reduction_pct > max_reduction then + local new_value = saved_value * (100 - max_reduction) * 0.01 + gcs:send_text(MAV_SEVERITY_INFO, string.format("limiting %s %.3f -> %.3f", pname, value, new_value)) + value = new_value + end + end + return value +end + +-- change a gain, limiting to QUIK_MAX_REDUCE +function adjust_gain_limited(pname, value) + adjust_gain(pname, limit_gain(pname, value)) +end + -- return gain multipler for one loop function get_gain_mul() return math.exp(math.log(2.0)/(UPDATE_RATE_HZ*QUIK_DOUBLE_TIME:get())) @@ -403,9 +435,9 @@ end function setup_slew_gain(pname, gain) slew_parm = pname - slew_target = gain + slew_target = limit_gain(pname, gain) slew_steps = UPDATE_RATE_HZ/2 - slew_delta = (gain - params[pname]:get()) / slew_steps + slew_delta = (slew_target - params[pname]:get()) / slew_steps end function update_slew_gain() @@ -547,7 +579,7 @@ function update() local old_P = params[P_name]:get() local new_P = old_P * ratio gcs:send_text(MAV_SEVERITY_INFO, string.format("adjusting %s %.3f -> %.3f", P_name, old_P, new_P)) - adjust_gain(P_name, new_P) + adjust_gain_limited(P_name, new_P) end setup_slew_gain(pname, new_gain) logger.write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage) @@ -559,7 +591,7 @@ function update() if new_gain <= 0.0001 then new_gain = 0.001 end - adjust_gain(pname, new_gain) + adjust_gain_limited(pname, new_gain) logger.write('QUIK','SRate,Gain,Param', 'ffn', srate, P:get(), axis .. stage) if get_time() - last_gain_report > 3 then last_gain_report = get_time()