mirror of https://github.com/ArduPilot/ardupilot
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
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@ -527,8 +527,12 @@ void AC_AutoTune::control_attitude()
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float target_max_rate;
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switch (axis) {
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case ROLL:
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case ROLL: {
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target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
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const float roll_rate_max_cds = degrees(attitude_control->get_ang_vel_roll_max_rads()) * 100;
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if (is_positive(roll_rate_max_cds)) {
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target_max_rate = MIN(target_max_rate, roll_rate_max_cds);
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}
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target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
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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);
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abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
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@ -536,8 +540,13 @@ void AC_AutoTune::control_attitude()
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start_angle = ahrs_view->roll_sensor;
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rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f);
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break;
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case PITCH:
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}
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case PITCH: {
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target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
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const float pitch_rate_max_cds = degrees(attitude_control->get_ang_vel_pitch_max_rads()) * 100;
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if (is_positive(pitch_rate_max_cds)) {
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target_max_rate = MIN(target_max_rate, pitch_rate_max_cds);
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}
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target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
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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);
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abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD;
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@ -545,8 +554,13 @@ void AC_AutoTune::control_attitude()
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start_angle = ahrs_view->pitch_sensor;
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rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f);
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break;
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case YAW:
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}
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case YAW: {
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target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS);
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const float yaw_rate_max_cds = degrees(attitude_control->get_ang_vel_yaw_max_rads()) * 100;
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if (is_positive(yaw_rate_max_cds)) {
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target_max_rate = MIN(target_max_rate, yaw_rate_max_cds);
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}
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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);
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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);
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abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD;
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@ -555,6 +569,7 @@ void AC_AutoTune::control_attitude()
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rotation_rate_filt.set_cutoff_frequency(AUTOTUNE_Y_FILT_FREQ);
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break;
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}
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}
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if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
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rotation_rate_filt.reset(start_rate);
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} else {
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