Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: more Autotune updates

Browse Source
This commit is contained in:
Leonard Hall 2015-05-06 14:57:37 +09:30 committed by Randy Mackay
parent 05103d9f9c
commit 92fe75f396
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/control_autotune.pde
View File

@ -502,7 +502,7 @@ static void autotune_attitude_control()
break;
case AUTOTUNE_TYPE_SP_DOWN:
case AUTOTUNE_TYPE_SP_UP:
autotune_twitching_test(lean_angle, autotune_target_angle, autotune_test_min, autotune_test_max);
autotune_twitching_test(lean_angle, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
autotune_twitching_measure_acceleration(autotune_test_accel_max, rotation_rate - direction_sign * autotune_start_rate, rate_max);
break;
}
@ -591,10 +591,10 @@ static void autotune_attitude_control()
case AUTOTUNE_TYPE_SP_DOWN:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_p_down(tune_roll_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
autotune_updating_p_down(tune_roll_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_p_down(tune_pitch_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
autotune_updating_p_down(tune_pitch_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_p_down(tune_yaw_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
@ -605,10 +605,10 @@ static void autotune_attitude_control()
case AUTOTUNE_TYPE_SP_UP:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_p_up(tune_roll_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
autotune_updating_p_up(tune_roll_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_p_up(tune_pitch_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
autotune_updating_p_up(tune_pitch_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_p_up(tune_yaw_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
@ -1071,7 +1071,7 @@ void autotune_twitching_test(float measurement, float target, float &measurement
}
// calculate early stopping time based on the time it takes to get to 90%
if (measurement_max < target * 0.9f) {
if (measurement_max < target * 0.75f) {
// the measurement not reached the 90% threshold yet
autotune_step_stop_time = autotune_step_start_time + (millis() - autotune_step_start_time) * 3.0f;
autotune_step_stop_time = min(autotune_step_stop_time, autotune_step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS);