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Copter: Autotune comment changes and formatting

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Leonard Hall 2015-03-06 18:49:31 +10:30 committed by Randy Mackay
parent 1c57c6a266
commit 9bfb0e1f40
1 changed files with 36 additions and 36 deletions
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72
ArduCopter/control_autotune.pde
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@ -43,45 +43,45 @@
#define AUTOTUNE_AXIS_BITMASK_PITCH 2 #define AUTOTUNE_AXIS_BITMASK_PITCH 2
#define AUTOTUNE_AXIS_BITMASK_YAW 4 #define AUTOTUNE_AXIS_BITMASK_YAW 4
#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds #define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds
#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 500 // timeout for tuning mode's testing step #define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 500 // timeout for tuning mode's testing step
#define AUTOTUNE_LEVEL_ANGLE_CD 300 // angle which qualifies as level #define AUTOTUNE_LEVEL_ANGLE_CD 300 // angle which qualifies as level
#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS 250 // time we require the copter to be level #define AUTOTUNE_REQUIRED_LEVEL_TIME_MS 250 // time we require the copter to be level
#define AUTOTUNE_RD_STEP 0.05f // minimum increment when increasing/decreasing Rate D term #define AUTOTUNE_RD_STEP 0.05f // minimum increment when increasing/decreasing Rate D term
#define AUTOTUNE_RP_STEP 0.05f // minimum increment when increasing/decreasing Rate P term #define AUTOTUNE_RP_STEP 0.05f // minimum increment when increasing/decreasing Rate P term
#define AUTOTUNE_SP_STEP 0.05f // minimum increment when increasing/decreasing Stab P term #define AUTOTUNE_SP_STEP 0.05f // minimum increment when increasing/decreasing Stab P term
#define AUTOTUNE_RD_TEST_NOISE 0.05f // Rate D gains are reduced to 50% of their maximum value discovered during tuning #define AUTOTUNE_RD_TEST_NOISE 0.05f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
#define AUTOTUNE_RD_BACKOFF 4.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning #define AUTOTUNE_RD_BACKOFF 4.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
#define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning #define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
#define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning #define AUTOTUNE_SP_BACKOFF 1.0f // Stab P gains are reduced to 60% of their maximum value discovered during tuning
#define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing #define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
#define AUTOTUNE_PI_RATIO_FINAL 2.5f // I is set 1x P after testing #define AUTOTUNE_PI_RATIO_FINAL 2.5f // I is set 1x P after testing
#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing #define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing
#define AUTOTUNE_RD_MIN 0.002f // minimum Rate D value #define AUTOTUNE_RD_MIN 0.002f // minimum Rate D value
#define AUTOTUNE_RD_MAX 0.050f // maximum Rate D value #define AUTOTUNE_RD_MAX 0.050f // maximum Rate D value
#define AUTOTUNE_RLPF_MIN 0.1f // minimum Rate D value #define AUTOTUNE_RLPF_MIN 0.1f // minimum Rate Yaw filter value
#define AUTOTUNE_RLPF_MAX 10.0f // maximum Rate D value #define AUTOTUNE_RLPF_MAX 10.0f // maximum Rate Yaw filter value
#define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value #define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value
#define AUTOTUNE_RP_MAX 5.0f // maximum Rate P value #define AUTOTUNE_RP_MAX 5.0f // maximum Rate P value
#define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value #define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value
#define AUTOTUNE_SP_MIN 1.0f // maximum Stab P value #define AUTOTUNE_SP_MIN 1.0f // maximum Stab P value
#define AUTOTUNE_ACCEL_RP_BACKOFF 1.5f // back off from maximum acceleration #define AUTOTUNE_ACCEL_RP_BACKOFF 1.5f // back off from maximum acceleration
#define AUTOTUNE_ACCEL_Y_BACKOFF 0.75f // back off from maximum acceleration #define AUTOTUNE_ACCEL_Y_BACKOFF 0.75f // back off from maximum acceleration
#define AUTOTUNE_RP_ACCEL_MIN 75000.0f // Minimum acceleration for Roll and Pitch #define AUTOTUNE_RP_ACCEL_MIN 75000.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_Y_ACCEL_MIN 18000.0f // Minimum acceleration for Roll and Pitch #define AUTOTUNE_Y_ACCEL_MIN 18000.0f // Minimum acceleration for Roll and Pitch
#define AUTOTUNE_SUCCESS_COUNT 4 // how many successful iterations we need to freeze at current gains #define AUTOTUNE_SUCCESS_COUNT 4 // how many successful iterations we need to freeze at current gains
#define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in #define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in
// roll and pitch axes // roll and pitch axes
#define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD 2000 // target angle during TESTING_RATE step that will cause us to move to next step #define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD 2000 // target angle during TESTING_RATE step that will cause us to move to next step
#define AUTOTUNE_TARGET_RATE_RLLPIT_CDS 9000 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step #define AUTOTUNE_TARGET_RATE_RLLPIT_CDS 9000 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000 // target angle during TESTING_RATE step that will cause us to move to next step #define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000 // target angle during TESTING_RATE step that will cause us to move to next step
#define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step #define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
// yaw axis // yaw axis
#define AUTOTUNE_TARGET_ANGLE_YAW_CD 1000 // target angle during TESTING_RATE step that will cause us to move to next step #define AUTOTUNE_TARGET_ANGLE_YAW_CD 1000 // target angle during TESTING_RATE step that will cause us to move to next step
#define AUTOTUNE_TARGET_RATE_YAW_CDS 3000 // target yaw rate during AUTOTUNE_STEP_TWITCHING step #define AUTOTUNE_TARGET_RATE_YAW_CDS 3000 // target yaw rate during AUTOTUNE_STEP_TWITCHING step
#define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD 500 // target angle during TESTING_RATE step that will cause us to move to next step #define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD 500 // target angle during TESTING_RATE step that will cause us to move to next step
#define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS 1500 // target yaw rate during AUTOTUNE_STEP_TWITCHING step #define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS 1500 // target yaw rate during AUTOTUNE_STEP_TWITCHING step
// Auto Tune message ids for ground station // Auto Tune message ids for ground station
@ -93,7 +93,7 @@
// autotune modes (high level states) // autotune modes (high level states)
enum AutoTuneTuneMode { enum AutoTuneTuneMode {
AUTOTUNE_MODE_UNINITIALISED = 0, // autotune has never been run AUTOTUNE_MODE_UNINITIALISED = 0, // autotune has never been run
AUTOTUNE_MODE_TUNING = 1, // autotune is testing gains AUTOTUNE_MODE_TUNING = 1, // autotune is testing gains
AUTOTUNE_MODE_SUCCESS = 2, // tuning has completed, user is flight testing the new gains AUTOTUNE_MODE_SUCCESS = 2, // tuning has completed, user is flight testing the new gains
AUTOTUNE_MODE_FAILED = 3, // tuning has failed, user is flying on original gains AUTOTUNE_MODE_FAILED = 3, // tuning has failed, user is flying on original gains
@ -118,7 +118,7 @@ enum AutoTuneTuneType {
AUTOTUNE_TYPE_RD_UP = 0, // rate D is being tuned up AUTOTUNE_TYPE_RD_UP = 0, // rate D is being tuned up
AUTOTUNE_TYPE_RD_DOWN = 1, // rate D is being tuned down AUTOTUNE_TYPE_RD_DOWN = 1, // rate D is being tuned down
AUTOTUNE_TYPE_RP_UP = 2, // rate P is being tuned up AUTOTUNE_TYPE_RP_UP = 2, // rate P is being tuned up
AUTOTUNE_TYPE_SP_DOWN = 3, // angle P is being tuned up AUTOTUNE_TYPE_SP_DOWN = 3, // angle P is being tuned up
AUTOTUNE_TYPE_SP_UP = 4 // angle P is being tuned up AUTOTUNE_TYPE_SP_UP = 4 // angle P is being tuned up
}; };
@ -133,15 +133,15 @@ struct autotune_state_struct {
} autotune_state; } autotune_state;
// variables // variables
static uint32_t autotune_override_time; // the last time the pilot overrode the controls static uint32_t autotune_override_time; // the last time the pilot overrode the controls
static float autotune_test_min; // the minimum angular rate achieved during TESTING_RATE step static float autotune_test_min; // the minimum angular rate achieved during TESTING_RATE step
static float autotune_test_max; // the maximum angular rate achieved during TESTING_RATE step static float autotune_test_max; // the maximum angular rate achieved during TESTING_RATE step
static uint32_t autotune_step_start_time; // start time of current tuning step (used for timeout checks) static uint32_t autotune_step_start_time; // start time of current tuning step (used for timeout checks)
static uint32_t autotune_step_stop_time; // start time of current tuning step (used for timeout checks) static uint32_t autotune_step_stop_time; // start time of current tuning step (used for timeout checks)
static int8_t autotune_counter; // counter for tuning gains static int8_t autotune_counter; // counter for tuning gains
static float autotune_target_rate, autotune_start_rate; // target and start rate static float autotune_target_rate, autotune_start_rate; // target and start rate
static float autotune_target_angle, autotune_start_angle; // target and start angles static float autotune_target_angle, autotune_start_angle; // target and start angles
static float rate_max, autotune_test_accel_max; // maximum acceleration variables static float rate_max, autotune_test_accel_max; // maximum acceleration variables
// backup of currently being tuned parameter values // backup of currently being tuned parameter values
static float orig_roll_rp = 0, orig_roll_ri, orig_roll_rd, orig_roll_sp; static float orig_roll_rp = 0, orig_roll_ri, orig_roll_rd, orig_roll_sp;