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Copter: yet more Autotune Updates

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Leonard Hall 2015-05-06 16:40:18 +09:30 committed by Randy Mackay
parent 92fe75f396
commit 7cccb73103
1 changed files with 23 additions and 9 deletions
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32
ArduCopter/control_autotune.pde
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@ -945,6 +945,20 @@ static void autotune_save_tuning_gains()
{
// if we successfully completed tuning
if (autotune_state.mode == AUTOTUNE_MODE_SUCCESS) {
if (attitude_control.get_bf_feedforward()) {
attitude_control.bf_feedforward_save(true);
if (attitude_control.get_accel_roll_max() < AUTOTUNE_RP_ACCEL_MIN/2.0f){
attitude_control.save_accel_roll_max(AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT);
}
if (attitude_control.get_accel_pitch_max() < AUTOTUNE_RP_ACCEL_MIN/2.0f){
attitude_control.save_accel_pitch_max(AC_ATTITUDE_CONTROL_ACCEL_RP_MAX_DEFAULT);
}
if (attitude_control.get_accel_yaw_max() < AUTOTUNE_Y_ACCEL_MIN/2.0f){
attitude_control.save_accel_yaw_max(AC_ATTITUDE_CONTROL_ACCEL_Y_MAX_DEFAULT);
}
}
// sanity check the rate P values
if (autotune_roll_enabled() && !is_zero(tune_roll_rp)) {
// rate roll gains
@ -952,13 +966,13 @@ static void autotune_save_tuning_gains()
g.pid_rate_roll.kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
g.pid_rate_roll.kD(tune_roll_rd);
g.pid_rate_roll.save_gains();
// stabilize roll
g.p_stabilize_roll.kP(tune_roll_sp);
g.p_stabilize_roll.save_gains();
if (attitude_control.get_bf_feedforward()) {
attitude_control.save_accel_roll_max(tune_roll_accel);
}
// acceleration roll
attitude_control.save_accel_roll_max(tune_roll_accel);
// resave pids to originals in case the autotune is run again
orig_roll_rp = g.pid_rate_roll.kP();
@ -973,13 +987,13 @@ static void autotune_save_tuning_gains()
g.pid_rate_pitch.kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
g.pid_rate_pitch.kD(tune_pitch_rd);
g.pid_rate_pitch.save_gains();
// stabilize pitch
g.p_stabilize_pitch.kP(tune_pitch_sp);
g.p_stabilize_pitch.save_gains();
if (attitude_control.get_bf_feedforward()) {
attitude_control.save_accel_pitch_max(tune_pitch_accel);
}
// acceleration pitch
attitude_control.save_accel_pitch_max(tune_pitch_accel);
// resave pids to originals in case the autotune is run again
orig_pitch_rp = g.pid_rate_pitch.kP();
@ -995,13 +1009,13 @@ static void autotune_save_tuning_gains()
g.pid_rate_yaw.kD(0.0f);
g.pid_rate_yaw.filt_hz(tune_yaw_rLPF);
g.pid_rate_yaw.save_gains();
// stabilize yaw
g.p_stabilize_yaw.kP(tune_yaw_sp);
g.p_stabilize_yaw.save_gains();
if (attitude_control.get_bf_feedforward()) {
attitude_control.save_accel_yaw_max(tune_yaw_accel);
}
// acceleration yaw
attitude_control.save_accel_yaw_max(tune_yaw_accel);
// resave pids to originals in case the autotune is run again
orig_yaw_rp = g.pid_rate_yaw.kP();