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AC_AutoTune: limit autotune target rates to parameter limits 

this makes it safer to autotune a large vehicle which may become
unstable at very high target rates
This commit is contained in:
Andrew Tridgell 2021-12-20 13:38:01 +11:00
parent 3233528e37
commit 8c09da0ee6
1 changed files with 18 additions and 3 deletions
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21
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -527,8 +527,12 @@ void AC_AutoTune::control_attitude()
float target_max_rate; float target_max_rate;
switch (axis) { switch (axis) {
case ROLL: case ROLL: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
const float roll_rate_max_cds = degrees(attitude_control->get_ang_vel_roll_max_rads()) * 100;
if (is_positive(roll_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, roll_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
@ -536,8 +540,13 @@ void AC_AutoTune::control_attitude()
start_angle = ahrs_view->roll_sensor; start_angle = ahrs_view->roll_sensor;
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f); rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f);
break; break;
case PITCH: }
case PITCH: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
const float pitch_rate_max_cds = degrees(attitude_control->get_ang_vel_pitch_max_rads()) * 100;
if (is_positive(pitch_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, pitch_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
@ -545,8 +554,13 @@ void AC_AutoTune::control_attitude()
start_angle = ahrs_view->pitch_sensor; start_angle = ahrs_view->pitch_sensor;
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f); rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f);
break; break;
case YAW: }
case YAW: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS); target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS);
const float yaw_rate_max_cds = degrees(attitude_control->get_ang_vel_yaw_max_rads()) * 100;
if (is_positive(yaw_rate_max_cds)) {
target_max_rate = MIN(target_max_rate, yaw_rate_max_cds);
}
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, target_max_rate); target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD);
abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD; abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD;
@ -555,6 +569,7 @@ void AC_AutoTune::control_attitude()
rotation_rate_filt.set_cutoff_frequency(AUTOTUNE_Y_FILT_FREQ); rotation_rate_filt.set_cutoff_frequency(AUTOTUNE_Y_FILT_FREQ);
break; break;
} }
}
if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) { if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
rotation_rate_filt.reset(start_rate); rotation_rate_filt.reset(start_rate);
} else { } else {