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Copter: Tuning for position controller angle max

This commit is contained in:
Leonard Hall 2022-12-17 23:25:09 +10:30 committed by Peter Barker
parent 3a725ad1b0
commit a3812d7632
3 changed files with 7 additions and 2 deletions
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2
ArduCopter/Parameters.cpp
View File

@ -337,7 +337,7 @@ const AP_Param::Info Copter::var_info[] = {
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro Roll/Pitch deg/s,40:Acro Yaw deg/s,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
// @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro Roll/Pitch deg/s,40:Acro Yaw deg/s,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude,59:PSC Angle Max
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: FRAME_TYPE

3
ArduCopter/defines.h
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@ -58,7 +58,8 @@ enum tuning_func {
TUNING_RATE_MOT_YAW_HEADROOM = 55, // motors yaw headroom minimum
TUNING_RATE_YAW_FILT = 56, // yaw rate input filter
UNUSED = 57, // was winch control
TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
TUNING_SYSTEM_ID_MAGNITUDE = 58, // magnitude of the system ID signal
TUNING_POS_CONTROL_ANGLE_MAX = 59 // position controller maximum angle
};
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter

4
ArduCopter/tuning.cpp
View File

@ -189,5 +189,9 @@ void Copter::tuning()
copter.mode_systemid.set_magnitude(tuning_value);
#endif
break;
case TUNING_POS_CONTROL_ANGLE_MAX:
pos_control->set_lean_angle_max_cd(tuning_value * 100.0);
break;
}
}