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AC_AutoTune: zero out D_FF during twitching

This commit is contained in:
Andy Piper 2024-05-09 12:33:57 +01:00 committed by Andrew Tridgell
parent a9419d3868
commit a907468b30
2 changed files with 24 additions and 3 deletions
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6
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -286,9 +286,9 @@ protected:
LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second
// backup of currently being tuned parameter values
float orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_fltt, orig_roll_smax, orig_roll_sp, orig_roll_accel;
float orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_fltt, orig_pitch_smax, orig_pitch_sp, orig_pitch_accel;
float orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_fltt, orig_yaw_smax, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
float orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_dff, orig_roll_fltt, orig_roll_smax, orig_roll_sp, orig_roll_accel;
float orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_dff, orig_pitch_fltt, orig_pitch_smax, orig_pitch_sp, orig_pitch_accel;
float orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_dff, orig_yaw_fltt, orig_yaw_smax, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
bool orig_bf_feedforward;
// currently being tuned parameter values

21
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
View File

@ -149,6 +149,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
orig_roll_dff = attitude_control->get_rate_roll_pid().kDff();
orig_roll_fltt = attitude_control->get_rate_roll_pid().filt_T_hz();
orig_roll_smax = attitude_control->get_rate_roll_pid().slew_limit();
orig_roll_sp = attitude_control->get_angle_roll_p().kP();
@ -162,6 +163,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
orig_pitch_dff = attitude_control->get_rate_pitch_pid().kDff();
orig_pitch_fltt = attitude_control->get_rate_pitch_pid().filt_T_hz();
orig_pitch_smax = attitude_control->get_rate_pitch_pid().slew_limit();
orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
@ -175,6 +177,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
orig_yaw_dff = attitude_control->get_rate_yaw_pid().kDff();
orig_yaw_fltt = attitude_control->get_rate_yaw_pid().filt_T_hz();
orig_yaw_smax = attitude_control->get_rate_yaw_pid().slew_limit();
orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
@ -206,6 +209,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_roll_pid().kI(orig_roll_ri);
attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_angle_roll_p().kP(orig_roll_sp);
@ -218,6 +222,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_pitch_pid().kI(orig_pitch_ri);
attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
@ -230,6 +235,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_yaw_pid().kI(orig_yaw_ri);
attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
@ -253,6 +259,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_angle_roll_p().kP(tune_roll_sp);
attitude_control->set_accel_roll_max_cdss(tune_roll_accel);
}
@ -263,6 +270,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
attitude_control->set_accel_pitch_max_cdss(tune_pitch_accel);
}
@ -278,6 +286,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
}
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
attitude_control->set_accel_yaw_max_cdss(tune_yaw_accel);
}
@ -296,6 +305,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_angle_roll_p().kP(orig_roll_sp);
@ -305,6 +315,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
@ -314,6 +325,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
@ -331,6 +343,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*0.01f);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(0.0f);
attitude_control->get_rate_roll_pid().kDff(0.0f);
attitude_control->get_rate_roll_pid().filt_T_hz(0.0f);
attitude_control->get_rate_roll_pid().slew_limit(0.0f);
attitude_control->get_angle_roll_p().kP(tune_roll_sp);
@ -340,6 +353,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*0.01f);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(0.0f);
attitude_control->get_rate_pitch_pid().kDff(0.0f);
attitude_control->get_rate_pitch_pid().filt_T_hz(0.0f);
attitude_control->get_rate_pitch_pid().slew_limit(0.0f);
attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
@ -349,6 +363,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
attitude_control->get_rate_yaw_pid().ff(0.0f);
attitude_control->get_rate_yaw_pid().kDff(0.0f);
if (axis == YAW_D) {
attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd);
} else {
@ -383,6 +398,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_rate_roll_pid().save_gains();
@ -399,6 +415,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
orig_roll_dff = attitude_control->get_rate_roll_pid().kDff();
orig_roll_sp = attitude_control->get_angle_roll_p().kP();
orig_roll_accel = attitude_control->get_accel_roll_max_cdss();
}
@ -409,6 +426,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_rate_pitch_pid().save_gains();
@ -425,6 +443,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
orig_pitch_dff = attitude_control->get_rate_pitch_pid().kDff();
orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss();
}
@ -435,6 +454,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
if (yaw_d_enabled()) {
@ -457,6 +477,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
orig_yaw_dff = attitude_control->get_rate_yaw_pid().kDff();
orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss();