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AC_AutoTune: Tradheli-modify I gain for angle p and tune check

This commit is contained in:
Bill Geyer 2022-05-20 22:45:12 -04:00 committed by Bill Geyer
parent c8a7c128ad
commit 6839f6c89b
1 changed files with 11 additions and 6 deletions
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17
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -502,8 +502,8 @@ void AC_AutoTune_Heli::load_test_gains()
float rate_p, rate_i, rate_d;
switch (axis) {
case ROLL:
if (tune_type == SP_UP) {
rate_i = orig_roll_ri;
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_roll_rff*AUTOTUNE_FFI_RATIO_FINAL;
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_roll_ri;
@ -518,8 +518,8 @@ void AC_AutoTune_Heli::load_test_gains()
load_gain_set(ROLL, rate_p, rate_i, rate_d, tune_roll_rff, tune_roll_sp, tune_roll_accel, orig_roll_fltt, 0.0f, 0.0f);
break;
case PITCH:
if (tune_type == SP_UP) {
rate_i = orig_pitch_ri;
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_pitch_rff*AUTOTUNE_FFI_RATIO_FINAL;
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_pitch_ri;
@ -534,8 +534,13 @@ void AC_AutoTune_Heli::load_test_gains()
load_gain_set(PITCH, rate_p, rate_i, rate_d, tune_pitch_rff, tune_pitch_sp, tune_pitch_accel, orig_pitch_fltt, 0.0f, 0.0f);
break;
case YAW:
// freeze integrator to hold trim by making i term small during rate controller tuning
load_gain_set(YAW, tune_yaw_rp, tune_yaw_rp*0.01f, tune_yaw_rd, tune_yaw_rff, tune_yaw_sp, tune_yaw_accel, orig_yaw_fltt, tune_yaw_rLPF, 0.0f);
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL;
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_yaw_ri;
}
load_gain_set(YAW, tune_yaw_rp, rate_i, tune_yaw_rd, tune_yaw_rff, tune_yaw_sp, tune_yaw_accel, orig_yaw_fltt, tune_yaw_rLPF, 0.0f);
break;
}
}