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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
Copter: fixed parameter handling for pointer objects
fixed loading of default files and use of POINTER flag on object groups
This commit is contained in:
Andrew Tridgell
parent
3338b4295e
commit
e85df47b06
@ -3,19 +3,6 @@
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// If you used to define your CONFIG_APM_HARDWARE setting here, it is no longer
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// valid! You should switch to using a HAL_BOARD flag in your local config.mk.
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//#define FRAME_CONFIG QUAD_FRAME
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/* options:
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* QUAD_FRAME
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* TRI_FRAME
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* HEXA_FRAME
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* Y6_FRAME
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* OCTA_FRAME
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* OCTA_QUAD_FRAME
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* HELI_FRAME
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* SINGLE_FRAME
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* COAX_FRAME
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*/
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// uncomment the lines below to disable features (flash sizes listed are for APM2 boards and will underestimate savings on Pixhawk and other boards)
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//#define LOGGING_ENABLED DISABLED // disable dataflash logging to save 11K of flash space
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//#define MOUNT DISABLED // disable the camera gimbal to save 8K of flash space
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@ -24,6 +24,7 @@
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#define ASCALAR(v, name, def) { copter.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&copter.aparm.v, {def_value : def} }
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#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
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#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
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#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
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const AP_Param::Info Copter::var_info[] = {
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@ -683,23 +684,19 @@ const AP_Param::Info Copter::var_info[] = {
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// @Group: WPNAV_
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// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
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GOBJECT(wp_nav, "WPNAV_", AC_WPNav),
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GOBJECTPTR(wp_nav, "WPNAV_", AC_WPNav),
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// @Group: CIRCLE_
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// @Path: ../libraries/AC_WPNav/AC_Circle.cpp
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GOBJECT(circle_nav, "CIRCLE_", AC_Circle),
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GOBJECTPTR(circle_nav, "CIRCLE_", AC_Circle),
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#if FRAME_CONFIG == HELI_FRAME
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GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Heli),
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#else
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// @Group: ATC_
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// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Multi),
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#endif
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GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
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// @Group: POSCON_
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// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
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GOBJECT(pos_control, "PSC", AC_PosControl),
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GOBJECTPTR(pos_control, "PSC", AC_PosControl),
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// @Group: SR0_
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// @Path: GCS_Mavlink.cpp
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@ -783,21 +780,11 @@ const AP_Param::Info Copter::var_info[] = {
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#if FRAME_CONFIG == HELI_FRAME
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// @Group: H_
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// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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GOBJECT(motors, "H_", AP_MotorsHeli_Single),
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#elif FRAME_CONFIG == SINGLE_FRAME
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GOBJECT(motors, "MOT_", AP_MotorsSingle),
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#elif FRAME_CONFIG == COAX_FRAME
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GOBJECT(motors, "MOT_", AP_MotorsCoax),
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#elif FRAME_CONFIG == TRI_FRAME
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GOBJECT(motors, "MOT_", AP_MotorsTri),
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GOBJECTPTR(motors, "H_", AP_MotorsHeli_Single),
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#else
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// @Group: MOT_
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// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
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GOBJECT(motors, "MOT_", AP_MotorsMulticopter),
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GOBJECTPTR(motors, "MOT_", AP_MotorsMulticopter),
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#endif
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// @Group: RCMAP_
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@ -1080,7 +1067,7 @@ void Copter::load_parameters(void)
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uint32_t before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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AP_Param::load_all(false);
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AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
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cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
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@ -1135,7 +1122,7 @@ void Copter::convert_pid_parameters(void)
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// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
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float pid_scaler = 1.27f;
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#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
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#if FRAME_CONFIG != HELI_FRAME
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// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
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if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
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pid_scaler = 0.9f;
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@ -61,7 +61,7 @@
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// FRAME_CONFIG
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//
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#ifndef FRAME_CONFIG
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# define FRAME_CONFIG QUAD_FRAME
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# define FRAME_CONFIG MULTICOPTER_FRAME
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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@ -73,23 +73,6 @@
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# define AUTOTUNE_ENABLED DISABLED
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// Y6 defaults
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#if FRAME_CONFIG == Y6_FRAME
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# define RATE_ROLL_P 0.1f
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# define RATE_ROLL_D 0.006f
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# define RATE_PITCH_P 0.1f
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# define RATE_PITCH_D 0.006f
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# define RATE_YAW_P 0.150f
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# define RATE_YAW_I 0.015f
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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// Tri defaults
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#if FRAME_CONFIG == TRI_FRAME
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# define RATE_YAW_FILT_HZ 100.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// PWM control
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// default RC speed in Hz
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@ -75,15 +75,8 @@ enum aux_sw_func {
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// Frame types
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#define UNDEFINED_FRAME 0
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#define QUAD_FRAME 1
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#define TRI_FRAME 2
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#define HEXA_FRAME 3
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#define Y6_FRAME 4
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#define OCTA_FRAME 5
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#define HELI_FRAME 6
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#define OCTA_QUAD_FRAME 7
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#define SINGLE_FRAME 8
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#define COAX_FRAME 9
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#define MULTICOPTER_FRAME 1
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#define HELI_FRAME 2
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// HIL enumerations
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#define HIL_MODE_DISABLED 0
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@ -590,4 +590,24 @@ void Copter::allocate_motors(void)
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if (wp_nav == nullptr) {
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AP_HAL::panic("Unable to allocate CircleNav");
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}
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// reload lines from the defaults file that may now be accessible
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AP_Param::reload_defaults_file();
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// now setup some frame-class specific defaults
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switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
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case AP_Motors::MOTOR_FRAME_Y6:
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attitude_control->get_rate_roll_pid().kP().set_default(0.1);
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attitude_control->get_rate_roll_pid().kD().set_default(0.006);
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attitude_control->get_rate_pitch_pid().kP().set_default(0.1);
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attitude_control->get_rate_pitch_pid().kD().set_default(0.006);
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attitude_control->get_rate_yaw_pid().kP().set_default(0.15);
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attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
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break;
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case AP_Motors::MOTOR_FRAME_TRI:
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attitude_control->get_rate_yaw_pid().filt_hz().set_default(100);
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break;
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default:
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break;
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}
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}
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