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removed the throttle min max settings for user config. 

turned off altitude interpolation for now.
removed the "Dampener" setting in config. Using less confusing kD instead.
removed throttle_cruise reset in events.pde for RTL - would cause a crash.
added I term for pitch/roll for when flying greater than 20°

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1868 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-10 20:31:33 +00:00
parent 2068c83cba
commit 985a4e7f61
7 changed files with 48 additions and 109 deletions
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27
ArduCopterMega/APM_Config.h.reference
View File

@ -367,33 +367,6 @@
//#define ENABLE_HIL ENABLED //#define ENABLE_HIL ENABLED
// //
//////////////////////////////////////////////////////////////////////////////
// Throttle control
//
// THROTTLE_MIN OPTIONAL
//
// The minimum throttle setting to which the autopilot will reduce the
// throttle while descending. The default is zero, which is
// suitable for aircraft with a steady power-off glide. Increase this
// value if your aircraft needs throttle to maintain a stable descent in
// level flight.
//
// THROTTLE_CRUISE OPTIONAL
//
// The approximate throttle setting to achieve AIRSPEED_CRUISE in level flight.
// The default is 45%, which is reasonable for a modestly powered aircraft.
//
// THROTTLE_MAX OPTIONAL
//
// The maximum throttle setting the autopilot will apply. The default is 75%.
// Reduce this value if your aicraft is overpowered, or has complex flight
// characteristics at high throttle settings.
//
//#define THROTTLE_MIN 0
//#define THROTTLE_CRUISE 45
//#define THROTTLE_MAX 75
//
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Autopilot control limits // Autopilot control limits
// //

16
ArduCopterMega/ArduCopterMega.pde
View File

@ -966,7 +966,7 @@ void update_current_flight_mode(void)
output_manual_throttle(); output_manual_throttle();
// apply nav_pitch and nav_roll to output // apply nav_pitch and nav_roll to output
fbw_nav_mixer(); simple_mixer();
// perform stabilzation // perform stabilzation
output_stabilize_roll(); output_stabilize_roll();
@ -988,8 +988,8 @@ void update_current_flight_mode(void)
if(flight_timer >= 2){ if(flight_timer >= 2){
flight_timer = 0; flight_timer = 0;
if(g.rc_3.control_in <= 0){ if(g.rc_3.control_in <= 200){
next_WP.alt -= 1; next_WP.alt -= 1; // 1 meter per second
next_WP.alt = max(next_WP.alt, 100); next_WP.alt = max(next_WP.alt, 100);
}else if (g.rc_3.control_in > 700){ }else if (g.rc_3.control_in > 700){
next_WP.alt += 1; next_WP.alt += 1;
@ -1102,10 +1102,6 @@ void read_AHRS(void)
//----------------------------------------------- //-----------------------------------------------
dcm.update_DCM(G_Dt); dcm.update_DCM(G_Dt);
omega = dcm.get_gyro(); omega = dcm.get_gyro();
// Testing remove !!!
//dcm.pitch_sensor = 0;
//dcm.roll_sensor = 0;
} }
void update_trig(void){ void update_trig(void){
@ -1140,7 +1136,7 @@ void update_alt()
// decide which sensor we're usings // decide which sensor we're usings
sonar_alt = sonar.read(); sonar_alt = sonar.read();
if(baro_alt < 500 && sonar_alt < 600){ if(baro_alt < 500 && sonar_alt < 600){ // less than 5m or 15 feet
altitude_sensor = SONAR; altitude_sensor = SONAR;
}else{ }else{
altitude_sensor = BARO; altitude_sensor = BARO;
@ -1165,10 +1161,10 @@ void update_alt()
// altitude smoothing // altitude smoothing
// ------------------ // ------------------
calc_altitude_smoothing_error(); //calc_altitude_smoothing_error();
//calc_altitude_error(); calc_altitude_error();
// Amount of throttle to apply for hovering // Amount of throttle to apply for hovering
// ---------------------------------------- // ----------------------------------------

18
ArduCopterMega/Attitude.pde
View File

@ -20,7 +20,7 @@ control_nav_mixer()
} }
void void
fbw_nav_mixer() simple_mixer()
{ {
// control +- 45° is mixed with the navigation request by the Autopilot // control +- 45° is mixed with the navigation request by the Autopilot
// output is in degrees = target pitch and roll of copter // output is in degrees = target pitch and roll of copter
@ -37,7 +37,12 @@ output_stabilize_roll()
error = g.rc_1.servo_out - dcm.roll_sensor; error = g.rc_1.servo_out - dcm.roll_sensor;
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
error = constrain(error, -2500, 2500); error = constrain(error, -2500, 2500);
// only buildup I if we are trying to roll hard
if(abs(g.rc_1.servo_out) < 1500){
g.pid_stabilize_roll.reset_I();
}
// write out angles back to servo out - this will be converted to PWM by RC_Channel // write out angles back to servo out - this will be converted to PWM by RC_Channel
g.rc_1.servo_out = g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0); g.rc_1.servo_out = g.pid_stabilize_roll.get_pid(error, delta_ms_fast_loop, 1.0);
@ -58,10 +63,15 @@ output_stabilize_pitch()
float error, rate; float error, rate;
int dampener; int dampener;
error = g.rc_2.servo_out - dcm.pitch_sensor; error = g.rc_2.servo_out - dcm.pitch_sensor;
// limit the error we're feeding to the PID // limit the error we're feeding to the PID
error = constrain(error, -2500, 2500); error = constrain(error, -2500, 2500);
// only buildup I if we are trying to roll hard
if(abs(g.rc_2.servo_out) < 1500){
g.pid_stabilize_pitch.reset_I();
}
// write out angles back to servo out - this will be converted to PWM by RC_Channel // write out angles back to servo out - this will be converted to PWM by RC_Channel
g.rc_2.servo_out = g.pid_stabilize_pitch.get_pid(error, delta_ms_fast_loop, 1.0); g.rc_2.servo_out = g.pid_stabilize_pitch.get_pid(error, delta_ms_fast_loop, 1.0);

18
ArduCopterMega/Parameters.h
View File

@ -17,7 +17,7 @@ public:
// The increment will prevent old parameters from being used incorrectly // The increment will prevent old parameters from being used incorrectly
// by newer code. // by newer code.
// //
static const uint16_t k_format_version = 3; static const uint16_t k_format_version = 4;
// //
// Parameter identities. // Parameter identities.
@ -232,12 +232,12 @@ public:
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")), waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")), loiter_radius (LOITER_RADIUS_DEFAULT, k_param_loiter_radius, PSTR("LOITER_RADIUS")),
throttle_min (THROTTLE_MIN, k_param_throttle_min, PSTR("THR_MIN")), throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
throttle_max (THROTTLE_MAX, k_param_throttle_max, PSTR("THR_MAX")), throttle_max (1000, k_param_throttle_max, PSTR("THR_MAX")),
throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")), throttle_fs_enabled (THROTTLE_FAILSAFE, k_param_throttle_fs_enabled, PSTR("THR_FAILSAFE")),
throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")), throttle_fs_action (THROTTLE_FAILSAFE_ACTION, k_param_throttle_fs_action, PSTR("THR_FS_ACTION")),
throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")), throttle_fs_value (THROTTLE_FS_VALUE, k_param_throttle_fs_value, PSTR("THR_FS_VALUE")),
throttle_cruise (THROTTLE_CRUISE, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")), throttle_cruise (100, k_param_throttle_cruise, PSTR("TRIM_THROTTLE")),
flight_mode_channel (FLIGHT_MODE_CHANNEL+1, k_param_flight_mode_channel, PSTR("FLT_MODE_CH")), flight_mode_channel (FLIGHT_MODE_CHANNEL+1, k_param_flight_mode_channel, PSTR("FLT_MODE_CH")),
flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")), flight_modes (k_param_flight_modes, PSTR("FLIGHT_MODES")),
@ -268,9 +268,9 @@ public:
pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100), pid_acro_rate_pitch (k_param_pid_acro_rate_pitch, PSTR("ACR_PIT_"), ACRO_RATE_PITCH_P, ACRO_RATE_PITCH_I, ACRO_RATE_PITCH_D, ACRO_RATE_PITCH_IMAX * 100),
pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100), pid_acro_rate_yaw (k_param_pid_acro_rate_yaw, PSTR("ACR_YAW_"), ACRO_RATE_YAW_P, ACRO_RATE_YAW_I, ACRO_RATE_YAW_D, ACRO_RATE_YAW_IMAX * 100),
pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_D, STABILIZE_ROLL_IMAX * 100), pid_stabilize_roll (k_param_pid_stabilize_roll, PSTR("STB_RLL_"), STABILIZE_ROLL_P, STABILIZE_ROLL_I, 0, STABILIZE_ROLL_IMAX * 100),
pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_D, STABILIZE_PITCH_IMAX * 100), pid_stabilize_pitch (k_param_pid_stabilize_pitch, PSTR("STB_PIT_"), STABILIZE_PITCH_P, STABILIZE_PITCH_I, 0, STABILIZE_PITCH_IMAX * 100),
pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, YAW_D, YAW_IMAX * 100), pid_yaw (k_param_pid_yaw, PSTR("STB_YAW_"), YAW_P, YAW_I, 0, YAW_IMAX * 100),
pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), pid_nav_lat (k_param_pid_nav_lat, PSTR("NAV_LAT_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100), pid_nav_lon (k_param_pid_nav_lon, PSTR("NAV_LON_"), NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
@ -278,8 +278,8 @@ public:
pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX * 100), pid_baro_throttle (k_param_pid_baro_throttle, PSTR("THR_BAR_"), THROTTLE_BARO_P, THROTTLE_BARO_I, THROTTLE_BARO_D, THROTTLE_BARO_IMAX * 100),
pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX * 100), pid_sonar_throttle (k_param_pid_sonar_throttle, PSTR("THR_SON_"), THROTTLE_SONAR_P, THROTTLE_SONAR_I, THROTTLE_SONAR_D, THROTTLE_SONAR_IMAX * 100),
stabilize_dampener (STABILIZE_DAMPENER, k_param_stabilize_dampener, PSTR("STB_DAMP")), stabilize_dampener (STABILIZE_ROLL_D, k_param_stabilize_dampener, PSTR("STB_DAMP")),
hold_yaw_dampener (HOLD_YAW_DAMPENER, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")), hold_yaw_dampener (YAW_D, k_param_hold_yaw_dampener, PSTR("YAW_DAMP")),
junk(0) // XXX just so that we can add things without worrying about the trailing comma junk(0) // XXX just so that we can add things without worrying about the trailing comma
{ {

66
ArduCopterMega/config.h
View File

@ -287,7 +287,7 @@
#define ACRO_RATE_PITCH_IMAX_CENTIDEGREE ACRO_RATE_PITCH_IMAX * 100 #define ACRO_RATE_PITCH_IMAX_CENTIDEGREE ACRO_RATE_PITCH_IMAX * 100
#ifndef ACRO_RATE_YAW_P #ifndef ACRO_RATE_YAW_P
# define ACRO_RATE_YAW_P .1 # define ACRO_RATE_YAW_P .2 // used to control response in turning
#endif #endif
#ifndef ACRO_RATE_YAW_I #ifndef ACRO_RATE_YAW_I
# define ACRO_RATE_YAW_I 0.0 # define ACRO_RATE_YAW_I 0.0
@ -305,7 +305,6 @@
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// STABILZE Angle Control // STABILZE Angle Control
// //
@ -313,32 +312,26 @@
# define STABILIZE_ROLL_P 0.6 # define STABILIZE_ROLL_P 0.6
#endif #endif
#ifndef STABILIZE_ROLL_I #ifndef STABILIZE_ROLL_I
# define STABILIZE_ROLL_I 0.0 # define STABILIZE_ROLL_I 0.1 //
#endif #endif
#ifndef STABILIZE_ROLL_D #ifndef STABILIZE_ROLL_D
# define STABILIZE_ROLL_D 0.0 # define STABILIZE_ROLL_D 0.135
#endif #endif
#ifndef STABILIZE_ROLL_IMAX #ifndef STABILIZE_ROLL_IMAX
# define STABILIZE_ROLL_IMAX 3 # define STABILIZE_ROLL_IMAX 10 // 10 degrees
#endif #endif
#ifndef STABILIZE_PITCH_P #ifndef STABILIZE_PITCH_P
# define STABILIZE_PITCH_P 0.6 # define STABILIZE_PITCH_P 0.6
#endif #endif
#ifndef STABILIZE_PITCH_I #ifndef STABILIZE_PITCH_I
# define STABILIZE_PITCH_I 0.0 # define STABILIZE_PITCH_I 0.1
#endif #endif
#ifndef STABILIZE_PITCH_D #ifndef STABILIZE_PITCH_D
# define STABILIZE_PITCH_D 0.0 # define STABILIZE_PITCH_D 0.135
#endif #endif
#ifndef STABILIZE_PITCH_IMAX #ifndef STABILIZE_PITCH_IMAX
# define STABILIZE_PITCH_IMAX 3 # define STABILIZE_PITCH_IMAX 10
#endif
// STABILZE RATE Control
//
#ifndef STABILIZE_DAMPENER
# define STABILIZE_DAMPENER 0.135
#endif #endif
@ -346,44 +339,24 @@
// YAW Control // YAW Control
// //
#ifndef YAW_P #ifndef YAW_P
# define YAW_P 0.25 # define YAW_P 0.35 // increase for more aggressive Yaw Hold, decrease if it's bouncy
#endif #endif
#ifndef YAW_I #ifndef YAW_I
# define YAW_I 0.0 # define YAW_I 0.0 // Always 0
#endif #endif
#ifndef YAW_D #ifndef YAW_D
# define YAW_D 0.0 # define YAW_D 0.175 //
#endif #endif
#ifndef YAW_IMAX #ifndef YAW_IMAX
# define YAW_IMAX 1 # define YAW_IMAX 0 // Always 0
#endif #endif
// STABILZE YAW Control
//
#ifndef HOLD_YAW_DAMPENER
# define HOLD_YAW_DAMPENER 0.175
#endif
//////////////////////////////////////////////////////////////////////////////
// Throttle control
//
#ifndef THROTTLE_MIN
# define THROTTLE_MIN 0
#endif
#ifndef THROTTLE_CRUISE
# define THROTTLE_CRUISE 250
#endif
#ifndef THROTTLE_MAX
# define THROTTLE_MAX 1000
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Autopilot control limits // Autopilot control limits
// //
// how much to we pitch towards the target // how much to we pitch towards the target
#ifndef PITCH_MAX #ifndef PITCH_MAX
# define PITCH_MAX 36 # define PITCH_MAX 25 // degrees
#endif #endif
@ -397,12 +370,11 @@
# define NAV_I 0.1 # define NAV_I 0.1
#endif #endif
#ifndef NAV_D #ifndef NAV_D
# define NAV_D 0.00 # define NAV_D 0.00 // should always be 0
#endif #endif
#ifndef NAV_IMAX #ifndef NAV_IMAX
# define NAV_IMAX 250 # define NAV_IMAX 250 // 250 degrees
#endif #endif
# define NAV_IMAX_CENTIDEGREE NAV_IMAX * 100
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -541,16 +513,6 @@
# define USE_CURRENT_ALT FALSE # define USE_CURRENT_ALT FALSE
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Developer Items
//
#ifndef STANDARD_SPEED
# define STANDARD_SPEED 15.0
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
#endif
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// RC override // RC override

2
ArduCopterMega/events.pde
View File

@ -35,7 +35,6 @@ void failsafe_off_event()
// we should already be in RTL and throttle set to cruise // we should already be in RTL and throttle set to cruise
// ------------------------------------------------------ // ------------------------------------------------------
set_mode(RTL); set_mode(RTL);
g.throttle_cruise = THROTTLE_CRUISE;
} }
*/ */
} }
@ -44,7 +43,6 @@ void low_battery_event(void)
{ {
gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!")); gcs.send_text_P(SEVERITY_HIGH,PSTR("Low Battery!"));
set_mode(RTL); set_mode(RTL);
g.throttle_cruise.set(THROTTLE_CRUISE);
} }

10
ArduCopterMega/setup.pde
View File

@ -667,9 +667,9 @@ default_flight_modes()
void void
default_throttle() default_throttle()
{ {
g.throttle_min = THROTTLE_MIN; g.throttle_min = 0;
g.throttle_max = THROTTLE_MAX; g.throttle_max = 1000;
g.throttle_cruise = THROTTLE_CRUISE; g.throttle_cruise = 100;
g.throttle_fs_enabled = THROTTLE_FAILSAFE; g.throttle_fs_enabled = THROTTLE_FAILSAFE;
g.throttle_fs_action = THROTTLE_FAILSAFE_ACTION; g.throttle_fs_action = THROTTLE_FAILSAFE_ACTION;
g.throttle_fs_value = THROTTLE_FS_VALUE; g.throttle_fs_value = THROTTLE_FS_VALUE;
@ -739,10 +739,10 @@ default_gains()
// custom dampeners // custom dampeners
// roll pitch // roll pitch
g.stabilize_dampener = STABILIZE_DAMPENER; g.stabilize_dampener = STABILIZE_ROLL_D;
//yaw //yaw
g.hold_yaw_dampener = HOLD_YAW_DAMPENER; g.hold_yaw_dampener = YAW_D;
// navigation // navigation
g.pid_nav_lat.kP(NAV_P); g.pid_nav_lat.kP(NAV_P);