mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-28 19:48:31 -04:00
Plane: allow for tuning of single parameters
This commit is contained in:
Andrew Tridgell
parent
8a65481551
commit
7a8bf033e1
@ -5,30 +5,57 @@
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/*
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tables of tuning sets
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*/
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_roll_pitch[] = { TUNING_Q_RATE_ROLL_KD, TUNING_Q_RATE_ROLL_KPI,
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TUNING_Q_RATE_PITCH_KD, TUNING_Q_RATE_PITCH_KPI};
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_roll[] = { TUNING_Q_RATE_ROLL_KD, TUNING_Q_RATE_ROLL_KPI };
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const uint8_t AP_Tuning_Plane::tuning_set_q_rate_pitch[] = { TUNING_Q_RATE_PITCH_KD, TUNING_Q_RATE_PITCH_KPI };
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const uint8_t AP_Tuning_Plane::tuning_set_rate_roll_pitch[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI,
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TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI};
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const uint8_t AP_Tuning_Plane::tuning_set_rate_roll[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI };
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const uint8_t AP_Tuning_Plane::tuning_set_rate_pitch[] = { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI };
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// macro to prevent getting the array length wrong
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#define TUNING_ARRAY(v) ARRAY_SIZE(v), v
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// list of tuning sets
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const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
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{ TUNING_SET_Q_RATE_ROLL_PITCH, TUNING_ARRAY(tuning_set_q_rate_roll_pitch) },
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{ TUNING_SET_Q_RATE_ROLL, TUNING_ARRAY(tuning_set_q_rate_roll) },
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{ TUNING_SET_Q_RATE_PITCH, TUNING_ARRAY(tuning_set_q_rate_pitch) },
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{ TUNING_SET_NONE, 0, nullptr }
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{ TUNING_SET_RATE_ROLL_PITCH, TUNING_ARRAY(tuning_set_rate_roll_pitch) },
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{ TUNING_SET_RATE_ROLL, TUNING_ARRAY(tuning_set_rate_roll) },
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{ TUNING_SET_RATE_PITCH, TUNING_ARRAY(tuning_set_rate_pitch) },
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{ 0, 0, nullptr }
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};
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/*
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table of tuning names
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*/
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const AP_Tuning_Plane::tuning_name AP_Tuning_Plane::tuning_names[] = {
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{ TUNING_Q_RATE_ROLL_KPI, "Q_RateRollPI" },
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{ TUNING_Q_RATE_ROLL_KD, "Q_RateRollD" },
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{ TUNING_Q_RATE_PITCH_KPI,"Q_RatePitchPI" },
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{ TUNING_Q_RATE_PITCH_KD, "Q_RatePitchD" },
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{ TUNING_RATE_ROLL_PI, "RateRollPI" },
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{ TUNING_RATE_ROLL_P, "RateRollP" },
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{ TUNING_RATE_ROLL_I, "RateRollI" },
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{ TUNING_RATE_ROLL_D, "RateRollD" },
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{ TUNING_RATE_PITCH_PI,"RatePitchPI" },
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{ TUNING_RATE_PITCH_P, "RatePitchP" },
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{ TUNING_RATE_PITCH_I, "RatePitchI" },
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{ TUNING_RATE_PITCH_D, "RatePitchD" },
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{ TUNING_RATE_YAW_PI, "RateYawPI" },
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{ TUNING_RATE_YAW_P, "RateYawP" },
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{ TUNING_RATE_YAW_I, "RateYawI" },
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{ TUNING_RATE_YAW_D, "RateYawD" },
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{ TUNING_ANG_ROLL_P, "AngRollP" },
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{ TUNING_ANG_PITCH_P, "AngPitchP" },
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{ TUNING_ANG_YAW_P, "AngYawP" },
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{ TUNING_PXY_P, "PXY_P" },
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{ TUNING_PZ_P, "PZ_P" },
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{ TUNING_VXY_P, "VXY_P" },
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{ TUNING_VXY_I, "VXY_I" },
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{ TUNING_VZ_P, "VZ_P" },
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{ TUNING_AZ_P, "RateAZ_P" },
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{ TUNING_AZ_I, "RateAZ_I" },
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{ TUNING_AZ_D, "RateAZ_D" },
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{ TUNING_RLL_P, "RollP" },
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{ TUNING_RLL_I, "RollI" },
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{ TUNING_RLL_D, "RollD" },
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{ TUNING_RLL_FF, "RollFF" },
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{ TUNING_PIT_P, "PitchP" },
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{ TUNING_PIT_I, "PitchI" },
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{ TUNING_PIT_D, "PitchD" },
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{ TUNING_PIT_FF, "PitchFF" },
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{ TUNING_NONE, nullptr }
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};
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@ -37,7 +64,84 @@ const AP_Tuning_Plane::tuning_name AP_Tuning_Plane::tuning_names[] = {
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*/
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AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
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{
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switch (parm) {
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if (parm < TUNING_FIXED_WING_BASE && !plane.quadplane.available()) {
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// quadplane tuning options not available
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return nullptr;
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}
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switch(parm) {
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case TUNING_RATE_ROLL_PI:
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// use P for initial value when tuning PI
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_RATE_ROLL_P:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_RATE_ROLL_I:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kI();
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case TUNING_RATE_ROLL_D:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kD();
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case TUNING_RATE_PITCH_PI:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_RATE_PITCH_P:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_RATE_PITCH_I:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kI();
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case TUNING_RATE_PITCH_D:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kD();
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case TUNING_RATE_YAW_PI:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_RATE_YAW_P:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_RATE_YAW_I:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kI();
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case TUNING_RATE_YAW_D:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kD();
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case TUNING_ANG_ROLL_P:
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return &plane.quadplane.attitude_control->get_angle_roll_p().kP();
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case TUNING_ANG_PITCH_P:
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return &plane.quadplane.attitude_control->get_angle_pitch_p().kP();
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case TUNING_ANG_YAW_P:
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return &plane.quadplane.attitude_control->get_angle_yaw_p().kP();
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case TUNING_PXY_P:
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return &plane.quadplane.p_pos_xy.kP();
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case TUNING_PZ_P:
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return &plane.quadplane.p_alt_hold.kP();
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case TUNING_VXY_P:
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return &plane.quadplane.pi_vel_xy.kP();
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case TUNING_VXY_I:
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return &plane.quadplane.pi_vel_xy.kI();
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case TUNING_VZ_P:
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return &plane.quadplane.p_vel_z.kP();
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case TUNING_AZ_P:
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return &plane.quadplane.pid_accel_z.kP();
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case TUNING_AZ_I:
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return &plane.quadplane.pid_accel_z.kI();
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case TUNING_AZ_D:
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return &plane.quadplane.pid_accel_z.kD();
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// fixed wing tuning parameters
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case TUNING_RLL_P:
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return &plane.rollController.kP();
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@ -61,90 +165,6 @@ AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
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case TUNING_PIT_FF:
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return &plane.pitchController.kFF();
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default:
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break;
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}
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if (!plane.quadplane.available()) {
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// quadplane tuning options not available
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return nullptr;
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}
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switch(parm) {
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case TUNING_Q_RATE_ROLL_KPI:
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// use P for initial value when tuning PI
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_Q_RATE_ROLL_KP:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kP();
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case TUNING_Q_RATE_ROLL_KI:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kI();
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case TUNING_Q_RATE_ROLL_KD:
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return &plane.quadplane.attitude_control->get_rate_roll_pid().kD();
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case TUNING_Q_RATE_PITCH_KPI:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_Q_RATE_PITCH_KP:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kP();
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case TUNING_Q_RATE_PITCH_KI:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kI();
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case TUNING_Q_RATE_PITCH_KD:
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return &plane.quadplane.attitude_control->get_rate_pitch_pid().kD();
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case TUNING_Q_RATE_YAW_KPI:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_Q_RATE_YAW_KP:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kP();
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case TUNING_Q_RATE_YAW_KI:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kI();
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case TUNING_Q_RATE_YAW_KD:
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return &plane.quadplane.attitude_control->get_rate_yaw_pid().kD();
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case TUNING_Q_ANG_ROLL_KP:
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return &plane.quadplane.attitude_control->get_angle_roll_p().kP();
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case TUNING_Q_ANG_PITCH_KP:
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return &plane.quadplane.attitude_control->get_angle_pitch_p().kP();
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case TUNING_Q_ANG_YAW_KP:
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return &plane.quadplane.attitude_control->get_angle_yaw_p().kP();
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case TUNING_Q_PXY_P:
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return &plane.quadplane.p_pos_xy.kP();
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case TUNING_Q_PZ_P:
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return &plane.quadplane.p_alt_hold.kP();
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case TUNING_Q_VXY_P:
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return &plane.quadplane.pi_vel_xy.kP();
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case TUNING_Q_VXY_I:
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return &plane.quadplane.pi_vel_xy.kI();
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case TUNING_Q_VZ_P:
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return &plane.quadplane.p_vel_z.kP();
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case TUNING_Q_AZ_P:
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return &plane.quadplane.pid_accel_z.kP();
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case TUNING_Q_AZ_I:
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return &plane.quadplane.pid_accel_z.kI();
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case TUNING_Q_AZ_D:
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return &plane.quadplane.pid_accel_z.kD();
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default:
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break;
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}
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return nullptr;
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}
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@ -157,13 +177,13 @@ void AP_Tuning_Plane::save_value(uint8_t parm)
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{
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switch(parm) {
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// special handling of dual-parameters
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case TUNING_Q_RATE_ROLL_KPI:
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save_value(TUNING_Q_RATE_ROLL_KP);
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save_value(TUNING_Q_RATE_ROLL_KI);
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case TUNING_RATE_ROLL_PI:
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save_value(TUNING_RATE_ROLL_P);
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save_value(TUNING_RATE_ROLL_I);
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break;
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case TUNING_Q_RATE_PITCH_KPI:
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save_value(TUNING_Q_RATE_PITCH_KP);
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save_value(TUNING_Q_RATE_PITCH_KI);
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case TUNING_RATE_PITCH_PI:
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save_value(TUNING_RATE_PITCH_P);
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save_value(TUNING_RATE_PITCH_I);
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break;
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default:
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AP_Float *f = get_param_pointer(parm);
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@ -181,13 +201,13 @@ void AP_Tuning_Plane::set_value(uint8_t parm, float value)
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{
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switch(parm) {
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// special handling of dual-parameters
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case TUNING_Q_RATE_ROLL_KPI:
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set_value(TUNING_Q_RATE_ROLL_KP, value);
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set_value(TUNING_Q_RATE_ROLL_KI, value);
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case TUNING_RATE_ROLL_PI:
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set_value(TUNING_RATE_ROLL_P, value);
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set_value(TUNING_RATE_ROLL_I, value);
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break;
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case TUNING_Q_RATE_PITCH_KPI:
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set_value(TUNING_Q_RATE_PITCH_KP, value);
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set_value(TUNING_Q_RATE_PITCH_KI, value);
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case TUNING_RATE_PITCH_PI:
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set_value(TUNING_RATE_PITCH_P, value);
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set_value(TUNING_RATE_PITCH_I, value);
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break;
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default:
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AP_Float *f = get_param_pointer(parm);
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@ -205,13 +225,13 @@ void AP_Tuning_Plane::reload_value(uint8_t parm)
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{
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switch(parm) {
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// special handling of dual-parameters
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case TUNING_Q_RATE_ROLL_KPI:
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reload_value(TUNING_Q_RATE_ROLL_KP);
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reload_value(TUNING_Q_RATE_ROLL_KI);
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case TUNING_RATE_ROLL_PI:
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reload_value(TUNING_RATE_ROLL_P);
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reload_value(TUNING_RATE_ROLL_I);
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break;
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case TUNING_Q_RATE_PITCH_KPI:
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reload_value(TUNING_Q_RATE_PITCH_KP);
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reload_value(TUNING_Q_RATE_PITCH_KI);
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case TUNING_RATE_PITCH_PI:
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reload_value(TUNING_RATE_PITCH_P);
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reload_value(TUNING_RATE_PITCH_I);
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break;
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default:
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AP_Float *f = get_param_pointer(parm);
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@ -19,58 +19,62 @@ public:
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AP_Tuning_Plane(void) : AP_Tuning(tuning_sets, tuning_names) {}
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private:
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// individual tuning parameters
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enum tuning_func {
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TUNING_NONE = 0,
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// quadplane tuning
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TUNING_Q_RATE_ROLL_KPI = 1,
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TUNING_Q_RATE_ROLL_KP = 2,
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TUNING_Q_RATE_ROLL_KI = 3,
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TUNING_Q_RATE_ROLL_KD = 4,
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TUNING_RATE_ROLL_PI = 1,
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TUNING_RATE_ROLL_P = 2,
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TUNING_RATE_ROLL_I = 3,
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TUNING_RATE_ROLL_D = 4,
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TUNING_Q_RATE_PITCH_KPI = 5,
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TUNING_Q_RATE_PITCH_KP = 6,
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TUNING_Q_RATE_PITCH_KI = 7,
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TUNING_Q_RATE_PITCH_KD = 8,
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TUNING_RATE_PITCH_PI = 5,
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TUNING_RATE_PITCH_P = 6,
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TUNING_RATE_PITCH_I = 7,
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TUNING_RATE_PITCH_D = 8,
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TUNING_Q_RATE_YAW_KPI = 9,
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TUNING_Q_RATE_YAW_KP = 10,
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TUNING_Q_RATE_YAW_KI = 11,
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TUNING_Q_RATE_YAW_KD = 12,
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TUNING_RATE_YAW_PI = 9,
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TUNING_RATE_YAW_P = 10,
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TUNING_RATE_YAW_I = 11,
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TUNING_RATE_YAW_D = 12,
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TUNING_Q_ANG_ROLL_KP = 13,
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TUNING_Q_ANG_PITCH_KP = 14,
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TUNING_Q_ANG_YAW_KP = 15,
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TUNING_ANG_ROLL_P = 13,
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TUNING_ANG_PITCH_P = 14,
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TUNING_ANG_YAW_P = 15,
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TUNING_Q_PXY_P = 16,
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TUNING_Q_PZ_P = 17,
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TUNING_PXY_P = 16,
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TUNING_PZ_P = 17,
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TUNING_Q_VXY_P = 18,
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TUNING_Q_VXY_I = 19,
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TUNING_Q_VZ_P = 20,
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TUNING_VXY_P = 18,
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TUNING_VXY_I = 19,
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TUNING_VZ_P = 20,
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TUNING_Q_AZ_P = 21,
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TUNING_Q_AZ_I = 22,
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TUNING_Q_AZ_D = 23,
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TUNING_AZ_P = 21,
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TUNING_AZ_I = 22,
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TUNING_AZ_D = 23,
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// fixed wing tuning
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TUNING_RLL_P = 24,
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TUNING_RLL_I = 25,
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TUNING_RLL_D = 26,
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TUNING_RLL_FF = 27,
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TUNING_FIXED_WING_BASE = 50,
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TUNING_RLL_P = 50,
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TUNING_RLL_I = 51,
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TUNING_RLL_D = 52,
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TUNING_RLL_FF = 53,
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TUNING_PIT_P = 28,
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TUNING_PIT_I = 29,
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TUNING_PIT_D = 30,
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TUNING_PIT_FF = 31,
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TUNING_PIT_P = 54,
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TUNING_PIT_I = 55,
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TUNING_PIT_D = 56,
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TUNING_PIT_FF = 57,
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};
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enum tuning_sets {
|
||||
TUNING_SET_NONE = 0,
|
||||
|
||||
TUNING_SET_Q_RATE_ROLL_PITCH = 1,
|
||||
TUNING_SET_Q_RATE_ROLL = 2,
|
||||
TUNING_SET_Q_RATE_PITCH = 3,
|
||||
/*
|
||||
sets of tuning values, chosen with TUNE_PARMSET over 100
|
||||
*/
|
||||
enum tuning_sets {
|
||||
TUNING_SET_RATE_ROLL_PITCH = 1,
|
||||
TUNING_SET_RATE_ROLL = 2,
|
||||
TUNING_SET_RATE_PITCH = 3,
|
||||
};
|
||||
|
||||
AP_Float *get_param_pointer(uint8_t parm);
|
||||
@ -79,7 +83,7 @@ private:
|
||||
void set_value(uint8_t parm, float value);
|
||||
|
||||
// tuning set arrays
|
||||
static const uint8_t tuning_set_q_rate_roll_pitch[];
|
||||
static const uint8_t tuning_set_q_rate_roll[];
|
||||
static const uint8_t tuning_set_q_rate_pitch[];
|
||||
static const uint8_t tuning_set_rate_roll_pitch[];
|
||||
static const uint8_t tuning_set_rate_roll[];
|
||||
static const uint8_t tuning_set_rate_pitch[];
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user