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AC_AutoTune: use failed state to exit

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This commit is contained in:
Bill Geyer 2022-04-09 23:17:28 -04:00 committed by Randy Mackay
parent b4059d3745
commit 8e35fd2658
2 changed files with 17 additions and 16 deletions
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18
libraries/AC_AutoTune/AC_AutoTune.h
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@ -231,6 +231,15 @@ protected:
}; };
void load_gains(enum GainType gain_type); void load_gains(enum GainType gain_type);
// autotune modes (high level states)
enum TuneMode {
UNINITIALISED = 0, // autotune has never been run
TUNING = 1, // autotune is testing gains
SUCCESS = 2, // tuning has completed, user is flight testing the new gains
FAILED = 3, // tuning has failed, user is flying on original gains
};
TuneMode mode; // see TuneMode for what modes are allowed
// copies of object pointers to make code a bit clearer // copies of object pointers to make code a bit clearer
AC_AttitudeControl *attitude_control; AC_AttitudeControl *attitude_control;
AC_PosControl *pos_control; AC_PosControl *pos_control;
@ -301,15 +310,6 @@ private:
// returns true if vehicle is close to level // returns true if vehicle is close to level
bool currently_level(); bool currently_level();
// autotune modes (high level states)
enum TuneMode {
UNINITIALISED = 0, // autotune has never been run
TUNING = 1, // autotune is testing gains
SUCCESS = 2, // tuning has completed, user is flight testing the new gains
FAILED = 3, // tuning has failed, user is flying on original gains
};
TuneMode mode; // see TuneMode for what modes are allowed
bool pilot_override; // true = pilot is overriding controls so we suspend tuning temporarily bool pilot_override; // true = pilot is overriding controls so we suspend tuning temporarily
bool use_poshold; // true = enable position hold bool use_poshold; // true = enable position hold
bool have_position; // true = start_position is value bool have_position; // true = start_position is value

15
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
View File

@ -217,7 +217,7 @@ void AC_AutoTune_Heli::test_run(AxisType test_axis, const float dir_sign)
(tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f) || (tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f) ||
((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq))){ ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq))){
load_gains(GAIN_INTRA_TEST); load_gains(GAIN_ORIGINAL);
attitude_control->use_sqrt_controller(true); attitude_control->use_sqrt_controller(true);
@ -227,14 +227,15 @@ void AC_AutoTune_Heli::test_run(AxisType test_axis, const float dir_sign)
attitude_control->input_euler_angle_roll_pitch_yaw(roll_cd, pitch_cd, desired_yaw_cd, true); attitude_control->input_euler_angle_roll_pitch_yaw(roll_cd, pitch_cd, desired_yaw_cd, true);
if ((tune_type == RP_UP && max_rate_p.max_allowed <= 0.0f) || (tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f)) { if ((tune_type == RP_UP && max_rate_p.max_allowed <= 0.0f) || (tune_type == RD_UP && max_rate_d.max_allowed <= 0.0f)) {
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Max Gains Failed, Skip Rate P/D Tuning"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Max Gain Determination Failed");
counter = AUTOTUNE_SUCCESS_COUNT; mode = FAILED;
step = UPDATE_GAINS; AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
update_gcs(AUTOTUNE_MESSAGE_FAILED);
} else if ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq)){ } else if ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq)){
gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Exceeded frequency range"); gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Exceeded frequency range");
AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT); mode = FAILED;
counter = AUTOTUNE_SUCCESS_COUNT; AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
step = UPDATE_GAINS; update_gcs(AUTOTUNE_MESSAGE_FAILED);
} else if (tune_type == TUNE_COMPLETE) { } else if (tune_type == TUNE_COMPLETE) {
counter = AUTOTUNE_SUCCESS_COUNT; counter = AUTOTUNE_SUCCESS_COUNT;
step = UPDATE_GAINS; step = UPDATE_GAINS;