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APM_Control: allow for AUTOTUNE_LEVEL=0

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this means keep the existing TCONST and RMAX parameters, if non-zero
This commit is contained in:
Andrew Tridgell 2021-04-03 13:13:23 +11:00
parent 316541017a
commit 97f88f67f6
1 changed files with 16 additions and 4 deletions
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20
libraries/APM_Control/AP_AutoTune.cpp
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@ -474,10 +474,19 @@ void AP_AutoTune::set_gains(const ATGains &v)
*/
void AP_AutoTune::update_rmax(void)
{
uint8_t level = constrain_int32(aparm.autotune_level, 1, ARRAY_SIZE(tuning_table));
uint8_t level = constrain_int32(aparm.autotune_level, 0, ARRAY_SIZE(tuning_table));
int16_t target_rmax = tuning_table[level-1].rmax;
float target_tau = tuning_table[level-1].tau;
int16_t target_rmax;
float target_tau;
if (level == 0) {
// this level means to keep current values of RMAX and TCONST
target_rmax = constrain_float(current.rmax_pos, 75, 720);
target_tau = current.tau;
} else {
target_rmax = tuning_table[level-1].rmax;
target_tau = tuning_table[level-1].tau;
}
if (current.rmax_pos == 0) {
// conservative initial value
@ -487,7 +496,10 @@ void AP_AutoTune::update_rmax(void)
current.rmax_pos.set(constrain_int32(target_rmax,
current.rmax_pos.get()-20,
current.rmax_pos.get()+20));
current.rmax_neg.set(current.rmax_pos.get());
if (level != 0 || current.rmax_neg.get() == 0) {
current.rmax_neg.set(current.rmax_pos.get());
}
// move tau by max 15% per loop
current.tau.set(constrain_float(target_tau,