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AC_AutoTune: make incrementing the tune type a function

This commit is contained in:
Bill Geyer 2021-12-25 22:43:10 -05:00 committed by Bill Geyer
parent 24603f3cf1
commit c817e92ada
3 changed files with 31 additions and 21 deletions
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25
libraries/AC_AutoTune/AC_AutoTune.cpp
View File

@ -593,13 +593,11 @@ void AC_AutoTune::control_attitude()
}
// increment the tune type to the next one in tune sequence
tune_seq_curr++;
tune_type = tune_seq[tune_seq_curr];
next_tune_type(tune_type, false);
if (tune_type == TUNE_COMPLETE) {
// we've reached the end of a D-up-down PI-up-down tune type cycle
tune_seq_curr = 0;
tune_type = tune_seq[tune_seq_curr];
next_tune_type(tune_type, true);
// advance to the next axis
bool complete = false;
@ -675,12 +673,8 @@ void AC_AutoTune::backup_gains_and_initialise()
// no axes are complete
axes_completed = 0;
// set the tune sequence
set_tune_sequence();
// start at the beginning of tune sequence
tune_seq_curr = 0;
tune_type = tune_seq[tune_seq_curr];
next_tune_type(tune_type, true);
positive_direction = false;
step = WAITING_FOR_LEVEL;
@ -848,3 +842,16 @@ void AC_AutoTune::get_poshold_attitude(float &roll_cd_out, float &pitch_cd_out,
yaw_cd_out = target_yaw_cd;
}
// get the next tune type
void AC_AutoTune::next_tune_type(TuneType &curr_tune_type, bool reset)
{
if (reset) {
set_tune_sequence();
tune_seq_curr = 0;
} else {
tune_seq_curr++;
}
curr_tune_type = tune_seq[tune_seq_curr];
}

9
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -213,6 +213,12 @@ protected:
TuneType tune_seq[6]; // holds sequence of tune_types to be performed
uint8_t tune_seq_curr; // current tune sequence step
// get the next tune type
void next_tune_type(TuneType &curr_tune_type, bool reset);
// Sets customizable tune sequence for the vehicle
virtual void set_tune_sequence() = 0;
// parameters
AP_Int8 axis_bitmask; // axes to be tuned
AP_Float aggressiveness; // aircraft response aggressiveness to be tuned
@ -316,9 +322,6 @@ private:
FAILED = 3, // tuning has failed, user is flying on original gains
};
// Sets customizable tune sequence for the vehicle
virtual void set_tune_sequence() = 0;
// type of gains to load
enum GainType {
GAIN_ORIGINAL = 0,

18
libraries/AC_AutoTune/AC_AutoTune_Multi.h
View File

@ -105,6 +105,15 @@ protected:
void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
void set_tune_sequence() override {
tune_seq[0] = RD_UP;
tune_seq[1] = RD_DOWN;
tune_seq[2] = RP_UP;
tune_seq[3] = SP_DOWN;
tune_seq[4] = SP_UP;
tune_seq[5] = TUNE_COMPLETE;
}
private:
// twitch test functions for multicopter
void twitch_test_init();
@ -137,13 +146,4 @@ private:
// P is increased until we achieve our target within a reasonable time
void updating_angle_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max);
void set_tune_sequence() override {
tune_seq[0] = RD_UP;
tune_seq[1] = RD_DOWN;
tune_seq[2] = RP_UP;
tune_seq[3] = SP_DOWN;
tune_seq[4] = SP_UP;
tune_seq[5] = TUNE_COMPLETE;
}
};