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Copter: Autotune Fix

This commit is contained in:
Leonard Hall 2014-08-14 10:25:08 +09:30 committed by Randy Mackay
parent f3fd79597f
commit 85213dccbf
1 changed files with 35 additions and 13 deletions
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44
ArduCopter/control_autotune.pde
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@ -395,7 +395,7 @@ static void autotune_attitude_control()
}
// capture min rotation rate after the rotation rate has peaked (aka "bounce back rate")
if (rotation_rate < autotune_test_min && autotune_test_max > AUTOTUNE_TARGET_RATE_CDS*(1-2*AUTOTUNE_AGGRESSIVENESS)) {
if (rotation_rate < autotune_test_min && autotune_test_max > AUTOTUNE_TARGET_RATE_CDS*0.5) {
autotune_test_min = rotation_rate;
}
}
@ -446,14 +446,20 @@ static void autotune_attitude_control()
// if max rotation rate was higher than target, reduce rate P
if (autotune_state.axis == AUTOTUNE_AXIS_ROLL) {
tune_roll_rp -= AUTOTUNE_RP_STEP;
// abandon tuning if rate P falls below 0.01
if(tune_roll_rp < AUTOTUNE_RP_MIN) {
tune_roll_rp = AUTOTUNE_RP_MIN;
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}else{
tune_pitch_rp -= AUTOTUNE_RP_STEP;
}
// abandon tuning if rate P falls below 0.01
if(((autotune_state.axis == AUTOTUNE_AXIS_ROLL && tune_roll_rp < AUTOTUNE_RP_MIN) ||
(autotune_state.axis == AUTOTUNE_AXIS_PITCH && tune_pitch_rp < AUTOTUNE_RP_MIN)) ) {
autotune_failed();
return;
if( tune_pitch_rp < AUTOTUNE_RP_MIN ) {
tune_pitch_rp = AUTOTUNE_RP_MIN;
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
// if maximum rotation rate was less than 80% of requested rate increase rate P
}else if(autotune_test_max < AUTOTUNE_TARGET_RATE_CDS*(1.0f-AUTOTUNE_AGGRESSIVENESS*2.0f) &&
@ -499,14 +505,30 @@ static void autotune_attitude_control()
// if max rotation rate was higher than target, reduce rate P
if (autotune_state.axis == AUTOTUNE_AXIS_ROLL) {
tune_roll_rp -= AUTOTUNE_RP_STEP;
// reduce rate D if tuning if rate P falls below 0.01
if(tune_roll_rp < AUTOTUNE_RP_MIN) {
tune_roll_rp = AUTOTUNE_RP_MIN;
tune_roll_rd -= AUTOTUNE_RD_STEP;
// stop tuning if we hit min D
if (tune_roll_rd <= AUTOTUNE_RD_MIN) {
tune_roll_rd = AUTOTUNE_RD_MIN;
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
}else{
tune_pitch_rp -= AUTOTUNE_RP_STEP;
// reduce rate D if tuning if rate P falls below 0.01
if( tune_pitch_rp < AUTOTUNE_RP_MIN ) {
tune_pitch_rp = AUTOTUNE_RP_MIN;
tune_pitch_rd -= AUTOTUNE_RD_STEP;
// stop tuning if we hit min D
if (tune_pitch_rd <= AUTOTUNE_RD_MIN) {
tune_pitch_rd = AUTOTUNE_RD_MIN;
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
}
}
// abandon tuning if rate P falls below 0.01
if(((autotune_state.axis == AUTOTUNE_AXIS_ROLL && tune_roll_rp < AUTOTUNE_RP_MIN) ||
(autotune_state.axis == AUTOTUNE_AXIS_PITCH && tune_pitch_rp < AUTOTUNE_RP_MIN)) ) {
autotune_failed();
return;
}
// if maximum rotation rate was less than 80% of requested rate increase rate P
}else if(autotune_test_max < AUTOTUNE_TARGET_RATE_CDS*(1-AUTOTUNE_AGGRESSIVENESS*2.0f) &&