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Plane: Add TX FF tuning for Pitch/Roll/Yaw QuadPlane PIDs

This commit is contained in:
Hwurzburg 2021-05-21 15:57:01 -05:00 committed by Andrew Tridgell
parent 1633afb6cd
commit 8dee32e64f
2 changed files with 20 additions and 1 deletions
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17
ArduPlane/tuning.cpp
View File

@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Tuning_Plane::var_info[] = {
// @Param: PARAM
// @DisplayName: Transmitter tuning parameter or set of parameters
// @Description: This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.
// @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ
// @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,24:RatePitchFF,25:RateRollFF,26:RateYawFF,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ
// @User: Standard
AP_GROUPINFO("PARAM", 1, AP_Tuning_Plane, parmset, 0),
@ -65,6 +65,9 @@ const AP_Tuning_Plane::tuning_name AP_Tuning_Plane::tuning_names[] = {
{ TUNING_ANG_ROLL_P, "AngRollP" },
{ TUNING_ANG_PITCH_P, "AngPitchP" },
{ TUNING_ANG_YAW_P, "AngYawP" },
{ TUNING_RATE_PITCH_FF, "RatePitchFF" },
{ TUNING_RATE_ROLL_FF, "RateRollFF" },
{ TUNING_RATE_YAW_FF, "RateYawFF" },
{ TUNING_PXY_P, "PXY_P" },
{ TUNING_PZ_P, "PZ_P" },
{ TUNING_VXY_P, "VXY_P" },
@ -166,6 +169,15 @@ AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
case TUNING_AZ_D:
return &plane.quadplane.pos_control->get_accel_z_pid().kD();
case TUNING_RATE_PITCH_FF:
return &plane.quadplane.attitude_control->get_rate_pitch_pid().ff();
case TUNING_RATE_ROLL_FF:
return &plane.quadplane.attitude_control->get_rate_roll_pid().ff();
case TUNING_RATE_YAW_FF:
return &plane.quadplane.attitude_control->get_rate_yaw_pid().ff();
// fixed wing tuning parameters
case TUNING_RLL_P:
return &plane.rollController.kP();
@ -307,6 +319,7 @@ float AP_Tuning_Plane::controller_error(uint8_t parm)
case TUNING_RATE_ROLL_PI:
case TUNING_RATE_ROLL_P:
case TUNING_RATE_ROLL_I:
case TUNING_RATE_ROLL_FF:
return plane.quadplane.attitude_control->control_monitor_rms_output_roll();
case TUNING_RATE_ROLL_D: {
@ -323,6 +336,7 @@ float AP_Tuning_Plane::controller_error(uint8_t parm)
case TUNING_RATE_PITCH_PI:
case TUNING_RATE_PITCH_P:
case TUNING_RATE_PITCH_I:
case TUNING_RATE_PITCH_FF:
return plane.quadplane.attitude_control->control_monitor_rms_output_pitch();
case TUNING_RATE_PITCH_D: {
@ -339,6 +353,7 @@ float AP_Tuning_Plane::controller_error(uint8_t parm)
case TUNING_RATE_YAW_P:
case TUNING_RATE_YAW_I:
case TUNING_RATE_YAW_D:
case TUNING_RATE_YAW_FF:
return plane.quadplane.attitude_control->control_monitor_rms_output_yaw();
default:

4
ArduPlane/tuning.h
View File

@ -55,6 +55,10 @@ private:
TUNING_AZ_I = 22,
TUNING_AZ_D = 23,
TUNING_RATE_PITCH_FF = 24,
TUNING_RATE_ROLL_FF = 25,
TUNING_RATE_YAW_FF = 26,
// fixed wing tuning
TUNING_FIXED_WING_BASE = 50,
TUNING_RLL_P = 50,