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AP_Scripting: setup axis filters when starting an axis

This commit is contained in:
Andrew Tridgell 2022-06-08 16:48:26 +10:00
parent 4bc697dfa2
commit 998072f600
1 changed files with 18 additions and 18 deletions
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36
libraries/AP_Scripting/applets/VTOL-quicktune.lua
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@ -104,6 +104,7 @@ local slew_target = 0
local slew_delta = 0 local slew_delta = 0
local axes_done = {} local axes_done = {}
local filters_done = {}
-- create params dictionary indexed by name, such as "RLL_P" -- create params dictionary indexed by name, such as "RLL_P"
@ -124,6 +125,7 @@ end
function reset_axes_done() function reset_axes_done()
for i, axis in ipairs(axis_names) do for i, axis in ipairs(axis_names) do
axes_done[axis] = false axes_done[axis] = false
filters_done[axis] = false
end end
stage = stages[1] stage = stages[1]
end end
@ -168,25 +170,19 @@ function setup_SMAX()
end end
-- setup filter frequencies -- setup filter frequencies
function setup_filters() function setup_filters(axis)
if QUIK_AUTO_FILTER:get() <= 0 then local fltd = axis .. "_FLTD"
return local fltt = axis .. "_FLTT"
end local flte = axis .. "_FLTE"
for i, axis in ipairs(axis_names) do adjust_gain(fltt, INS_GYRO_FILTER:get() * FLTT_MUL)
if axis_enabled(axis) then adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL)
local fltd = axis .. "_FLTD" if axis == "YAW" then
local fltt = axis .. "_FLTT" local FLTE = params[flte]
local flte = axis .. "_FLTE" if FLTE:get() <= 0.0 or FLTE:get() > YAW_FLTE_MAX then
adjust_gain(fltt, INS_GYRO_FILTER:get() * FLTT_MUL) adjust_gain(flte, YAW_FLTE_MAX)
adjust_gain(fltd, INS_GYRO_FILTER:get() * FLTD_MUL)
if axis == "YAW" then
local FLTE = params[flte]
if FLTE:get() <= 0.0 or FLTE:get() > YAW_FLTE_MAX then
adjust_gain(flte, YAW_FLTE_MAX)
end
end
end end
end end
filters_done[axis] = true
end end
-- check for pilot input to pause tune -- check for pilot input to pause tune
@ -421,13 +417,17 @@ function update()
gcs:send_text(MAV_SEVERITY_NOTICE, string.format("Tuning: starting tune")) gcs:send_text(MAV_SEVERITY_NOTICE, string.format("Tuning: starting tune"))
get_all_params() get_all_params()
setup_SMAX() setup_SMAX()
setup_filters()
end end
if get_time() - last_pilot_input < PILOT_INPUT_DELAY then if get_time() - last_pilot_input < PILOT_INPUT_DELAY then
return return
end end
if not filters_done[axis] then
gcs:send_text(MAV_SEVERITY_INFO, string.format("Starting %s tune", axis))
setup_filters(axis)
end
local srate = get_slew_rate(axis) local srate = get_slew_rate(axis)
local pname = get_pname(axis, stage) local pname = get_pname(axis, stage)
local P = params[pname] local P = params[pname]