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ArduCopter: add comments to tuning parameters. 

Use RC_CHANNEL types as defined by RC_Channel library.
Remove unused definitions.
This commit is contained in:
rmackay9 2012-12-09 16:44:42 +09:00
parent 88522d5db2
commit 8af9f6ed46
3 changed files with 41 additions and 103 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -2232,7 +2232,7 @@ static void tuning(){
g.pid_loiter_rate_lat.kD(tuning_value); g.pid_loiter_rate_lat.kD(tuning_value);
break; break;
case CH6_NAV_I: case CH6_NAV_KI:
g.pid_nav_lat.kI(tuning_value); g.pid_nav_lat.kI(tuning_value);
g.pid_nav_lon.kI(tuning_value); g.pid_nav_lon.kI(tuning_value);
break; break;

136
ArduCopter/defines.h
View File

@ -106,21 +106,12 @@
#define GPS_PROTOCOL_MTK16 6 #define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7 #define GPS_PROTOCOL_AUTO 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
#define RC_CHANNEL_ANGLE 0
#define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2
// HIL enumerations // HIL enumerations
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0
#define HIL_MODE_ATTITUDE 1 #define HIL_MODE_ATTITUDE 1
#define HIL_MODE_SENSORS 2 #define HIL_MODE_SENSORS 2
// Altitude status definitions
#define REACHED_ALT 0 #define REACHED_ALT 0
#define DESCENDING 1 #define DESCENDING 1
#define ASCENDING 2 #define ASCENDING 2
@ -143,67 +134,43 @@
#define TOY_M 12 // THOR Enum for Toy mode #define TOY_M 12 // THOR Enum for Toy mode
#define NUM_MODES 13 #define NUM_MODES 13
#define SIMPLE_1 1
#define SIMPLE_2 2
#define SIMPLE_3 4
#define SIMPLE_4 8
#define SIMPLE_5 16
#define SIMPLE_6 32
// CH_6 Tuning // CH_6 Tuning
// ----------- // -----------
#define CH6_NONE 0 #define CH6_NONE 0 // no tuning performed
// Attitude #define CH6_STABILIZE_KP 1 // stabilize roll/pitch angle controller's P term
#define CH6_STABILIZE_KP 1 #define CH6_STABILIZE_KI 2 // stabilize roll/pitch angle controller's I term
#define CH6_STABILIZE_KI 2 #define CH6_STABILIZE_KD 29 // stabilize roll/pitch angle controller's D term
#define CH6_STABILIZE_KD 29 // duplicate with CH6_DAMP #define CH6_YAW_KP 3 // stabilize yaw heading controller's P term
#define CH6_YAW_KP 3 #define CH6_YAW_KI 24 // stabilize yaw heading controller's P term
#define CH6_YAW_KI 24 #define CH6_ACRO_KP 25 // acro controller's P term. converts pilot input to a desired roll, pitch or yaw rate
// Rate #define CH6_RATE_KP 4 // body frame roll/pitch rate controller's P term
#define CH6_ACRO_KP 25 #define CH6_RATE_KI 5 // body frame roll/pitch rate controller's I term
#define CH6_RATE_KP 4 #define CH6_RATE_KD 21 // body frame roll/pitch rate controller's D term
#define CH6_RATE_KI 5 #define CH6_YAW_RATE_KP 6 // body frame yaw rate controller's P term
#define CH6_RATE_KD 21 #define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
#define CH6_YAW_RATE_KP 6 #define CH6_THR_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
#define CH6_YAW_RATE_KD 26 #define CH6_THROTTLE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
// Throttle #define CH6_THROTTLE_KI 33 // throttle rate controller's I term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_KP 7 #define CH6_THR_ACCEL_KP 34 // accel based throttle controller's P term
#define CH6_THROTTLE_KI 33 #define CH6_THR_ACCEL_KI 35 // accel based throttle controller's I term
#define CH6_THR_ACCEL_KP 34 #define CH6_THR_ACCEL_KD 36 // accel based throttle controller's D term
#define CH6_THR_ACCEL_KI 35 #define CH6_TOP_BOTTOM_RATIO 8 // upper/lower motor ratio (not used)
#define CH6_THR_ACCEL_KD 36 #define CH6_RELAY 9 // switch relay on if ch6 high, off if low
// Extras #define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point (0 to 10m/s)
#define CH6_TOP_BOTTOM_RATIO 8 #define CH6_NAV_KP 11 // navigation rate controller's P term (speed error to tilt angle)
#define CH6_RELAY 9 #define CH6_NAV_KI 20 // navigation rate controller's I term (speed error to tilt angle)
// Navigation #define CH6_LOITER_KP 12 // loiter distance controller's P term (position error to speed)
#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point #define CH6_LOITER_KI 27 // loiter distance controller's I term (position error to speed)
#define CH6_NAV_KP 11 #define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain
#define CH6_LOITER_KP 12 #define CH6_OPTFLOW_KP 17 // optical flow loiter controller's P term (position error to tilt angle)
#define CH6_LOITER_KI 27 #define CH6_OPTFLOW_KI 18 // optical flow loiter controller's I term (position error to tilt angle)
#define CH6_OPTFLOW_KD 19 // optical flow loiter controller's D term (position error to tilt angle)
// Trad Heli specific #define CH6_LOITER_RATE_KP 22 // loiter rate controller's P term (speed error to tilt angle)
#define CH6_HELI_EXTERNAL_GYRO 13 #define CH6_LOITER_RATE_KI 28 // loiter rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_RATE_KD 23 // loiter rate controller's D term (speed error to tilt angle)
// altitude controller #define CH6_AHRS_YAW_KP 30 // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
#define CH6_THR_HOLD_KP 14 #define CH6_AHRS_KP 31 // accelerometer effect on roll/pitch angle (0=low)
#define CH6_Z_GAIN 15 #define CH6_INAV_TC 32 // inertial navigation baro/accel and gps/accel time constant (1.5 = strong baro/gps correction on accel estimatehas very strong does not correct accel estimate, 7 = very weak correction)
#define CH6_DAMP 16 // duplicate with CH6_YAW_RATE_KD
// optical flow controller
#define CH6_OPTFLOW_KP 17
#define CH6_OPTFLOW_KI 18
#define CH6_OPTFLOW_KD 19
#define CH6_NAV_I 20
#define CH6_LOITER_RATE_KP 22
#define CH6_LOITER_RATE_KI 28
#define CH6_LOITER_RATE_KD 23
#define CH6_AHRS_YAW_KP 30
#define CH6_AHRS_KP 31
// Inertial Nav
#define CH6_INAV_TC 32
// nav byte mask // nav byte mask
// ------------- // -------------
@ -363,34 +330,10 @@ enum gcs_severity {
#define DATA_DESCENDING 30 #define DATA_DESCENDING 30
#define DATA_RTL_REACHED_ALT 31 #define DATA_RTL_REACHED_ALT 31
// battery monitoring macros
// Waypoint Modes
// ----------------
#define ABS_WP 0
#define REL_WP 1
// Command Queues
// ---------------
#define COMMAND_MUST 0
#define COMMAND_MAY 1
#define COMMAND_NOW 2
// Events
// ------
#define EVENT_WILL_REACH_WAYPOINT 1
#define EVENT_SET_NEW_WAYPOINT_INDEX 2
#define EVENT_LOADED_WAYPOINT 3
#define EVENT_LOOP 4
// Climb rate calculations
#define ALTITUDE_HISTORY_LENGTH 8 //Number of (time,altitude) points to
// regress a climb rate from
#define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio #define BATTERY_VOLTAGE(x) (x*(g.input_voltage/1024.0))*g.volt_div_ratio
#define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt #define CURRENT_AMPS(x) ((x*(g.input_voltage/1024.0))-CURR_AMPS_OFFSET)*g.curr_amp_per_volt
//#define BARO_FILTER_SIZE 8
/* ************************************************************** */ /* ************************************************************** */
/* Expansion PIN's that people can use for various things. */ /* Expansion PIN's that people can use for various things. */
@ -434,11 +377,6 @@ enum gcs_severity {
#define PIEZO_PIN AN5 //Last pin on the back ADC connector #define PIEZO_PIN AN5 //Last pin on the back ADC connector
// sonar
//#define SonarToCm(x) (x*1.26) // Sonar raw value to centimeters
// RADIANS // RADIANS
#define RADX100 0.000174532925 #define RADX100 0.000174532925
#define DEGX100 5729.57795 #define DEGX100 5729.57795

6
ArduCopter/radio.pde
View File

@ -34,9 +34,9 @@ static void init_rc_in()
// reverse: CW = left // reverse: CW = left
// normal: CW = left??? // normal: CW = left???
g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
rc_ch[CH_1] = &g.rc_1; rc_ch[CH_1] = &g.rc_1;
rc_ch[CH_2] = &g.rc_2; rc_ch[CH_2] = &g.rc_2;