From 90b5bc6a2d8680f28bc3285fa8da1600d1274992 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 6 Sep 2021 19:15:45 +0930 Subject: [PATCH] AC_AutoTune: Add units to the AC_AttitudeControl Library --- libraries/AC_AutoTune/AC_AutoTune.cpp | 44 +++++++++++++-------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp index 29e7bc4369..ec7ce8f096 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune.cpp @@ -932,11 +932,11 @@ void AC_AutoTune::backup_gains_and_initialise() orig_roll_rff = attitude_control->get_rate_roll_pid().ff(); orig_roll_fltt = attitude_control->get_rate_roll_pid().filt_T_hz(); orig_roll_sp = attitude_control->get_angle_roll_p().kP(); - orig_roll_accel = attitude_control->get_accel_roll_max(); + orig_roll_accel = attitude_control->get_accel_roll_max_cdss(); tune_roll_rp = attitude_control->get_rate_roll_pid().kP(); tune_roll_rd = attitude_control->get_rate_roll_pid().kD(); tune_roll_sp = attitude_control->get_angle_roll_p().kP(); - tune_roll_accel = attitude_control->get_accel_roll_max(); + tune_roll_accel = attitude_control->get_accel_roll_max_cdss(); orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP(); orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI(); @@ -944,11 +944,11 @@ void AC_AutoTune::backup_gains_and_initialise() orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff(); orig_pitch_fltt = attitude_control->get_rate_pitch_pid().filt_T_hz(); orig_pitch_sp = attitude_control->get_angle_pitch_p().kP(); - orig_pitch_accel = attitude_control->get_accel_pitch_max(); + orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss(); tune_pitch_rp = attitude_control->get_rate_pitch_pid().kP(); tune_pitch_rd = attitude_control->get_rate_pitch_pid().kD(); tune_pitch_sp = attitude_control->get_angle_pitch_p().kP(); - tune_pitch_accel = attitude_control->get_accel_pitch_max(); + tune_pitch_accel = attitude_control->get_accel_pitch_max_cdss(); orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP(); orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI(); @@ -956,12 +956,12 @@ void AC_AutoTune::backup_gains_and_initialise() orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff(); orig_yaw_fltt = attitude_control->get_rate_yaw_pid().filt_T_hz(); orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz(); - orig_yaw_accel = attitude_control->get_accel_yaw_max(); + orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss(); orig_yaw_sp = attitude_control->get_angle_yaw_p().kP(); tune_yaw_rp = attitude_control->get_rate_yaw_pid().kP(); tune_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz(); tune_yaw_sp = attitude_control->get_angle_yaw_p().kP(); - tune_yaw_accel = attitude_control->get_accel_yaw_max(); + tune_yaw_accel = attitude_control->get_accel_yaw_max_cdss(); AP::logger().Write_Event(LogEvent::AUTOTUNE_INITIALISED); } @@ -979,7 +979,7 @@ void AC_AutoTune::load_orig_gains() attitude_control->get_rate_roll_pid().ff(orig_roll_rff); attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt); attitude_control->get_angle_roll_p().kP(orig_roll_sp); - attitude_control->set_accel_roll_max(orig_roll_accel); + attitude_control->set_accel_roll_max_cdss(orig_roll_accel); } } if (pitch_enabled()) { @@ -990,7 +990,7 @@ void AC_AutoTune::load_orig_gains() attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt); attitude_control->get_angle_pitch_p().kP(orig_pitch_sp); - attitude_control->set_accel_pitch_max(orig_pitch_accel); + attitude_control->set_accel_pitch_max_cdss(orig_pitch_accel); } } if (yaw_enabled()) { @@ -1002,7 +1002,7 @@ void AC_AutoTune::load_orig_gains() attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF); attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt); attitude_control->get_angle_yaw_p().kP(orig_yaw_sp); - attitude_control->set_accel_yaw_max(orig_yaw_accel); + attitude_control->set_accel_yaw_max_cdss(orig_yaw_accel); } } } @@ -1012,8 +1012,8 @@ void AC_AutoTune::load_tuned_gains() { if (!attitude_control->get_bf_feedforward()) { attitude_control->bf_feedforward(true); - attitude_control->set_accel_roll_max(0.0f); - attitude_control->set_accel_pitch_max(0.0f); + attitude_control->set_accel_roll_max_cdss(0.0f); + attitude_control->set_accel_pitch_max_cdss(0.0f); } if (roll_enabled()) { if (!is_zero(tune_roll_rp)) { @@ -1022,7 +1022,7 @@ void AC_AutoTune::load_tuned_gains() attitude_control->get_rate_roll_pid().kD(tune_roll_rd); attitude_control->get_rate_roll_pid().ff(orig_roll_rff); attitude_control->get_angle_roll_p().kP(tune_roll_sp); - attitude_control->set_accel_roll_max(tune_roll_accel); + attitude_control->set_accel_roll_max_cdss(tune_roll_accel); } } if (pitch_enabled()) { @@ -1032,7 +1032,7 @@ void AC_AutoTune::load_tuned_gains() attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd); attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff); attitude_control->get_angle_pitch_p().kP(tune_pitch_sp); - attitude_control->set_accel_pitch_max(tune_pitch_accel); + attitude_control->set_accel_pitch_max_cdss(tune_pitch_accel); } } if (yaw_enabled()) { @@ -1043,7 +1043,7 @@ void AC_AutoTune::load_tuned_gains() attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff); attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF); attitude_control->get_angle_yaw_p().kP(tune_yaw_sp); - attitude_control->set_accel_yaw_max(tune_yaw_accel); + attitude_control->set_accel_yaw_max_cdss(tune_yaw_accel); } } } @@ -1147,8 +1147,8 @@ void AC_AutoTune::save_tuning_gains() if (!attitude_control->get_bf_feedforward()) { attitude_control->bf_feedforward_save(true); - attitude_control->save_accel_roll_max(0.0f); - attitude_control->save_accel_pitch_max(0.0f); + attitude_control->save_accel_roll_max_cdss(0.0f); + attitude_control->save_accel_pitch_max_cdss(0.0f); } // sanity check the rate P values @@ -1166,7 +1166,7 @@ void AC_AutoTune::save_tuning_gains() attitude_control->get_angle_roll_p().save_gains(); // acceleration roll - attitude_control->save_accel_roll_max(tune_roll_accel); + attitude_control->save_accel_roll_max_cdss(tune_roll_accel); // resave pids to originals in case the autotune is run again orig_roll_rp = attitude_control->get_rate_roll_pid().kP(); @@ -1174,7 +1174,7 @@ void AC_AutoTune::save_tuning_gains() orig_roll_rd = attitude_control->get_rate_roll_pid().kD(); orig_roll_rff = attitude_control->get_rate_roll_pid().ff(); orig_roll_sp = attitude_control->get_angle_roll_p().kP(); - orig_roll_accel = attitude_control->get_accel_roll_max(); + orig_roll_accel = attitude_control->get_accel_roll_max_cdss(); } if ((axes_completed & AUTOTUNE_AXIS_BITMASK_PITCH) && pitch_enabled() && !is_zero(tune_pitch_rp)) { @@ -1191,7 +1191,7 @@ void AC_AutoTune::save_tuning_gains() attitude_control->get_angle_pitch_p().save_gains(); // acceleration pitch - attitude_control->save_accel_pitch_max(tune_pitch_accel); + attitude_control->save_accel_pitch_max_cdss(tune_pitch_accel); // resave pids to originals in case the autotune is run again orig_pitch_rp = attitude_control->get_rate_pitch_pid().kP(); @@ -1199,7 +1199,7 @@ void AC_AutoTune::save_tuning_gains() orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD(); orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff(); orig_pitch_sp = attitude_control->get_angle_pitch_p().kP(); - orig_pitch_accel = attitude_control->get_accel_pitch_max(); + orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss(); } if ((axes_completed & AUTOTUNE_AXIS_BITMASK_YAW) && yaw_enabled() && !is_zero(tune_yaw_rp)) { @@ -1217,7 +1217,7 @@ void AC_AutoTune::save_tuning_gains() attitude_control->get_angle_yaw_p().save_gains(); // acceleration yaw - attitude_control->save_accel_yaw_max(tune_yaw_accel); + attitude_control->save_accel_yaw_max_cdss(tune_yaw_accel); // resave pids to originals in case the autotune is run again orig_yaw_rp = attitude_control->get_rate_yaw_pid().kP(); @@ -1226,7 +1226,7 @@ void AC_AutoTune::save_tuning_gains() orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff(); orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz(); orig_yaw_sp = attitude_control->get_angle_yaw_p().kP(); - orig_yaw_accel = attitude_control->get_accel_yaw_max(); + orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss(); } // update GCS and log save gains event