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Plane: remove multicopter PID parameters

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These have been moved to the AC_AttitudeControl class
This commit is contained in:
Randy Mackay 2016-02-15 17:45:56 +09:00
parent badfdcf54c
commit 70f81ee338
4 changed files with 11 additions and 134 deletions
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6
ArduPlane/GCS_Mavlink.cpp
View File

@ -515,7 +515,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) {
if (quadplane.in_vtol_mode()) {
pid_info = &quadplane.pid_rate_roll.get_pid_info();
pid_info = &quadplane.attitude_control->get_rate_roll_pid().get_pid_info();
} else {
pid_info = &rollController.get_pid_info();
}
@ -532,7 +532,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 2) {
if (quadplane.in_vtol_mode()) {
pid_info = &quadplane.pid_rate_pitch.get_pid_info();
pid_info = &quadplane.attitude_control->get_rate_pitch_pid().get_pid_info();
} else {
pid_info = &pitchController.get_pid_info();
}
@ -549,7 +549,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
}
if (g.gcs_pid_mask & 4) {
if (quadplane.in_vtol_mode()) {
pid_info = &quadplane.pid_rate_yaw.get_pid_info();
pid_info = &quadplane.attitude_control->get_rate_yaw_pid().get_pid_info();
} else {
pid_info = &yawController.get_pid_info();
}

6
ArduPlane/Log.cpp
View File

@ -165,9 +165,9 @@ void Plane::Log_Write_Attitude(void)
DataFlash.Log_Write_Attitude(ahrs, targets);
if (quadplane.in_vtol_mode()) {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, quadplane.pid_rate_roll.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDP_MSG, quadplane.pid_rate_pitch.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.pid_rate_yaw.get_pid_info() );
DataFlash.Log_Write_PID(LOG_PIDR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
DataFlash.Log_Write_PID(LOG_PIDA_MSG, quadplane.pid_accel_z.get_pid_info() );
} else {
DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());

127
ArduPlane/quadplane.cpp
View File

@ -15,118 +15,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter),
// @Param: RT_RLL_P
// @DisplayName: Roll axis rate controller P gain
// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
// @Range: 0.08 0.30
// @Increment: 0.005
// @User: Standard
// @Param: RT_RLL_I
// @DisplayName: Roll axis rate controller I gain
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
// @Param: RT_RLL_IMAX
// @DisplayName: Roll axis rate controller I gain maximum
// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: RT_RLL_D
// @DisplayName: Roll axis rate controller D gain
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
// @Range: 0.001 0.02
// @Increment: 0.001
// @User: Standard
AP_SUBGROUPINFO(pid_rate_roll, "RT_RLL_", 3, QuadPlane, AC_PID),
// @Param: RT_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range: 0.08 0.30
// @Increment: 0.005
// @User: Standard
// @Param: RT_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range: 0.01 0.5
// @Increment: 0.01
// @User: Standard
// @Param: RT_PIT_IMAX
// @DisplayName: Pitch axis rate controller I gain maximum
// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: RT_PIT_D
// @DisplayName: Pitch axis rate controller D gain
// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
// @Range: 0.001 0.02
// @Increment: 0.001
// @User: Standard
AP_SUBGROUPINFO(pid_rate_pitch, "RT_PIT_", 4, QuadPlane, AC_PID),
// @Param: RT_YAW_P
// @DisplayName: Yaw axis rate controller P gain
// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
// @Range: 0.150 0.50
// @Increment: 0.005
// @User: Standard
// @Param: RT_YAW_I
// @DisplayName: Yaw axis rate controller I gain
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
// @Range: 0.010 0.05
// @Increment: 0.01
// @User: Standard
// @Param: RT_YAW_IMAX
// @DisplayName: Yaw axis rate controller I gain maximum
// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
// @Range: 0 4500
// @Increment: 10
// @Units: Percent*10
// @User: Standard
// @Param: RT_YAW_D
// @DisplayName: Yaw axis rate controller D gain
// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
// @Range: 0.000 0.02
// @Increment: 0.001
// @User: Standard
AP_SUBGROUPINFO(pid_rate_yaw, "RT_YAW_", 5, QuadPlane, AC_PID),
// P controllers
//--------------
// @Param: STB_RLL_P
// @DisplayName: Roll axis stabilize controller P gain
// @Description: Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
// @Range: 3.000 12.000
// @User: Standard
AP_SUBGROUPINFO(p_stabilize_roll, "STB_R_", 6, QuadPlane, AC_P),
// @Param: STB_PIT_P
// @DisplayName: Pitch axis stabilize controller P gain
// @Description: Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
// @Range: 3.000 12.000
// @User: Standard
AP_SUBGROUPINFO(p_stabilize_pitch, "STB_P_", 7, QuadPlane, AC_P),
// @Param: STB_YAW_P
// @DisplayName: Yaw axis stabilize controller P gain
// @Description: Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
// @Range: 3.000 6.000
// @User: Standard
AP_SUBGROUPINFO(p_stabilize_yaw, "STB_Y_", 8, QuadPlane, AC_P),
// 3 ~ 8 were used by quadplane attitude control PIDs
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@ -413,9 +302,7 @@ bool QuadPlane::setup(void)
}
AP_Param::load_object_from_eeprom(motors, motors->var_info);
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors,
p_stabilize_roll, p_stabilize_pitch, p_stabilize_yaw,
pid_rate_roll, pid_rate_pitch, pid_rate_yaw);
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, plane.ins.get_loop_delta_t());
if (!attitude_control) {
hal.console->printf("Unable to allocate attitude_control\n");
goto failed;
@ -442,10 +329,6 @@ bool QuadPlane::setup(void)
motors->set_hover_throttle(throttle_mid);
motors->set_update_rate(rc_speed);
motors->set_interlock(true);
attitude_control->set_dt(plane.ins.get_loop_delta_t());
pid_rate_roll.set_dt(plane.ins.get_loop_delta_t());
pid_rate_pitch.set_dt(plane.ins.get_loop_delta_t());
pid_rate_yaw.set_dt(plane.ins.get_loop_delta_t());
pid_accel_z.set_dt(plane.ins.get_loop_delta_t());
pos_control->set_dt(plane.ins.get_loop_delta_t());
@ -1227,9 +1110,9 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
if (!setup()) {
return false;
}
pid_rate_roll.reset_I();
pid_rate_pitch.reset_I();
pid_rate_yaw.reset_I();
attitude_control->get_rate_roll_pid().reset_I();
attitude_control->get_rate_pitch_pid().reset_I();
attitude_control->get_rate_pitch_pid().reset_I();
pid_accel_z.reset_I();
pi_vel_xy.reset_I();

6
ArduPlane/quadplane.h
View File

@ -72,12 +72,6 @@ public:
private:
AP_AHRS_NavEKF &ahrs;
AP_Vehicle::MultiCopter aparm;
AC_PID pid_rate_roll {0.25, 0.25, 0.004, 2000, 10, 0.02};
AC_PID pid_rate_pitch{0.25, 0.25, 0.004, 2000, 10, 0.02};
AC_PID pid_rate_yaw {0.15, 0.1, 0.004, 2000, 5, 0.02};
AC_P p_stabilize_roll{4.5};
AC_P p_stabilize_pitch{4.5};
AC_P p_stabilize_yaw{4.5};
AP_InertialNav_NavEKF inertial_nav{ahrs};