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AC_AutoTune: Fix issue with parameters in quadplane

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This commit is contained in:
Bill Geyer 2021-10-01 16:35:52 -04:00 committed by Bill Geyer
parent 54bdde8845
commit e780687f5f
4 changed files with 21 additions and 25 deletions
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13
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -84,22 +84,9 @@
// second table of user settable parameters for quadplanes, this
// allows us to go beyond the 64 parameter limit
const AP_Param::GroupInfo AC_AutoTune::var_info[] = {
// @Param: AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
AP_GROUPINFO("AXES", 1, AC_AutoTune, axis_bitmask, 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
// Indices 2 and 3 where AGGR and MIN_D. These were moved to the Multi SubClass
AP_GROUPEND
};
AC_AutoTune::AC_AutoTune()
{
AP_Param::setup_object_defaults(this, var_info);
}
// autotune_init - should be called when autotune mode is selected

3
libraries/AC_AutoTune/AC_AutoTune.h
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@ -61,9 +61,6 @@ public:
axes_completed = 0;
}
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// axis that can be tuned

18
libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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@ -46,42 +46,48 @@
#define AUTOTUNE_SEQ_BITMASK_MAX_GAIN 8
const AP_Param::GroupInfo AC_AutoTune_Heli::var_info[] = {
AP_NESTEDGROUPINFO(AC_AutoTune, 0),
// @Param: AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
AP_GROUPINFO("AXES", 1, AC_AutoTune_Heli, axis_bitmask, 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
// @Param: SEQ
// @DisplayName: AutoTune Sequence Bitmask
// @Description: 2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D Only,4:Angle P Only,8:Max Gain Only,3:VFF and Rate D (incl max gain),5:VFF and Angle P,13:VFF max gain and angle P
// @Bitmask: 0:VFF,1:Rate D,2:Angle P,3:Max Gain Only
// @User: Standard
AP_GROUPINFO("SEQ", 1, AC_AutoTune_Heli, seq_bitmask, 5),
AP_GROUPINFO("SEQ", 2, AC_AutoTune_Heli, seq_bitmask, 5),
// @Param: MIN_FRQ
// @DisplayName: AutoTune minimum sweep frequency
// @Description: Defines the start frequency for sweeps and dwells
// @Range: 10 30
// @User: Standard
AP_GROUPINFO("MIN_FRQ", 2, AC_AutoTune_Heli, min_sweep_freq, 10.0f),
AP_GROUPINFO("MIN_FRQ", 3, AC_AutoTune_Heli, min_sweep_freq, 10.0f),
// @Param: MAX_FRQ
// @DisplayName: AutoTune maximum sweep frequency
// @Description: Defines the end frequency for sweeps and dwells
// @Range: 50 120
// @User: Standard
AP_GROUPINFO("MAX_FRQ", 3, AC_AutoTune_Heli, max_sweep_freq, 70.0f),
AP_GROUPINFO("MAX_FRQ", 4, AC_AutoTune_Heli, max_sweep_freq, 70.0f),
// @Param: MAX_GN
// @DisplayName: AutoTune maximum response gain
// @Description: Defines the response gain (output/input) to tune
// @Range: 1 2.5
// @User: Standard
AP_GROUPINFO("MAX_GN", 4, AC_AutoTune_Heli, max_resp_gain, 1.4f),
AP_GROUPINFO("MAX_GN", 5, AC_AutoTune_Heli, max_resp_gain, 1.4f),
// @Param: VELXY_P
// @DisplayName: AutoTune velocity xy P gain
// @Description: Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps
// @Range: 0 1
// @User: Standard
AP_GROUPINFO("VELXY_P", 5, AC_AutoTune_Heli, vel_hold_gain, 0.1f),
AP_GROUPINFO("VELXY_P", 6, AC_AutoTune_Heli, vel_hold_gain, 0.1f),
AP_GROUPEND
};

12
libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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@ -37,21 +37,27 @@
#include "AC_AutoTune_Multi.h"
const AP_Param::GroupInfo AC_AutoTune_Multi::var_info[] = {
AP_NESTEDGROUPINFO(AC_AutoTune, 0),
// @Param: AXES
// @DisplayName: Autotune axis bitmask
// @Description: 1-byte bitmap of axes to autotune
// @Bitmask: 0:Roll,1:Pitch,2:Yaw
// @User: Standard
AP_GROUPINFO("AXES", 1, AC_AutoTune_Multi, axis_bitmask, 7), // AUTOTUNE_AXIS_BITMASK_DEFAULT
// @Param: AGGR
// @DisplayName: Autotune aggressiveness
// @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
// @Range: 0.05 0.10
// @User: Standard
AP_GROUPINFO("AGGR", 1, AC_AutoTune_Multi, aggressiveness, 0.1f),
AP_GROUPINFO("AGGR", 2, AC_AutoTune_Multi, aggressiveness, 0.1f),
// @Param: MIN_D
// @DisplayName: AutoTune minimum D
// @Description: Defines the minimum D gain
// @Range: 0.001 0.006
// @User: Standard
AP_GROUPINFO("MIN_D", 2, AC_AutoTune_Multi, min_d, 0.001f),
AP_GROUPINFO("MIN_D", 3, AC_AutoTune_Multi, min_d, 0.001f),
AP_GROUPEND
};