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Plane: added some fixed wing in-flight transmitter tuning

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This commit is contained in:
Andrew Tridgell 2016-04-16 20:38:00 +10:00
parent 8586b0ae5a
commit edd15f15c0
2 changed files with 56 additions and 4 deletions
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45
ArduPlane/tuning.cpp
View File

@ -14,6 +14,7 @@ const AP_Param::GroupInfo Tuning::var_info[] = {
// @Param: PARM // @Param: PARM
// @DisplayName: Transmitter tuning parameter // @DisplayName: Transmitter tuning parameter
// @Description: This sets which parameter or combination of parameters will be tuned // @Description: This sets which parameter or combination of parameters will be tuned
// @Values: 0:None,1:QuadRateRollPitch_PI,2:QuadRateRollPitch_P,3:QuadRateRollPitch_I,4:QuadRateRollPitch_D,5:QuadRATE_ROLL_PI,6:QuadRateRoll_P,7:QuadRateRoll_I,8:QuadRateRoll_D,9:QuadRatePitch_PI,10:QuadRatePitch_P,11:QuadRatePitch_I,12:QuadRatePitch_D,13:QuadRateYaw_PI,14:QuadRateYaw_P,15:QuadRateYaw_I,16:QuadRateYaw_D,17:QuadAngleRoll_P,18:QuadAnglePitch_P,19:QuadAngleYaw_P,20:QuadPXY_P,21:QuadPZ_P,22:QuadVXY_P,23:QuadVXY_I,24:QuadVZ_P,25:QuadAZ_P,26:QuadAZ_I,27:QuadAZ_D,28:Roll_P,29:Roll_I,30:Roll_D,31:Roll_FF,32:Pitch_P,33:Pitch_I,34:Pitch_D,35:Pitch_FF
// @User: Standard // @User: Standard
AP_GROUPINFO("PARM", 2, Tuning, parm, 0), AP_GROUPINFO("PARM", 2, Tuning, parm, 0),
@ -74,11 +75,51 @@ void Tuning::check_input(void)
float tuning_value = minimum + (maximum-minimum)*(input*0.01f); float tuning_value = minimum + (maximum-minimum)*(input*0.01f);
Log_Write_Parameter_Tuning((uint8_t)parm.get(), tuning_value, minimum, maximum);
switch((enum tuning_func)parm.get()) {
case TUNING_RLL_P:
plane.rollController.kP(tuning_value);
break;
case TUNING_RLL_I:
plane.rollController.kI(tuning_value);
break;
case TUNING_RLL_D:
plane.rollController.kD(tuning_value);
break;
case TUNING_RLL_FF:
plane.rollController.kFF(tuning_value);
break;
case TUNING_PIT_P:
plane.pitchController.kP(tuning_value);
break;
case TUNING_PIT_I:
plane.pitchController.kI(tuning_value);
break;
case TUNING_PIT_D:
plane.pitchController.kD(tuning_value);
break;
case TUNING_PIT_FF:
plane.pitchController.kFF(tuning_value);
break;
default:
break;
}
if (!plane.quadplane.available()) { if (!plane.quadplane.available()) {
// quadplane tuning options not available // quadplane tuning options not available
return; return;
} }
switch((enum tuning_func)parm.get()) { switch((enum tuning_func)parm.get()) {
case TUNING_Q_RATE_ROLL_PITCH_KPI: case TUNING_Q_RATE_ROLL_PITCH_KPI:
@ -201,8 +242,6 @@ void Tuning::check_input(void)
default: default:
return; return;
} }
Log_Write_Parameter_Tuning((uint8_t)parm.get(), tuning_value, minimum, maximum);
} }
/* /*

15
ArduPlane/tuning.h
View File

@ -36,7 +36,9 @@ private:
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high); void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_low, float tune_high);
enum tuning_func { enum tuning_func {
TUNING_NONE = 0, TUNING_NONE = 0,
// quadplane tuning
TUNING_Q_RATE_ROLL_PITCH_KPI = 1, TUNING_Q_RATE_ROLL_PITCH_KPI = 1,
TUNING_Q_RATE_ROLL_PITCH_KP = 2, TUNING_Q_RATE_ROLL_PITCH_KP = 2,
TUNING_Q_RATE_ROLL_PITCH_KI = 3, TUNING_Q_RATE_ROLL_PITCH_KI = 3,
@ -71,5 +73,16 @@ private:
TUNING_Q_AZ_P = 25, TUNING_Q_AZ_P = 25,
TUNING_Q_AZ_I = 26, TUNING_Q_AZ_I = 26,
TUNING_Q_AZ_D = 27, TUNING_Q_AZ_D = 27,
// fixed wing tuning
TUNING_RLL_P = 28,
TUNING_RLL_I = 29,
TUNING_RLL_D = 30,
TUNING_RLL_FF = 31,
TUNING_PIT_P = 32,
TUNING_PIT_I = 33,
TUNING_PIT_D = 34,
TUNING_PIT_FF = 35,
}; };
}; };