diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h index 4c2198c11a..aff6c928f8 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.h +++ b/libraries/AC_AutoTune/AC_AutoTune.h @@ -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 diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index f304c3e70a..37d9d3f415 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp @@ -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();