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APM_Control: allow autotune FLTD and FLTT updates to be disabled

This commit is contained in:
Andy Piper 2023-07-19 13:40:09 +01:00 committed by Andrew Tridgell
parent 81326a17db
commit ee883b6ad0
2 changed files with 19 additions and 2 deletions
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12
libraries/APM_Control/AP_AutoTune.cpp
View File

@ -424,9 +424,17 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
}
// setup filters to be suitable for time constant and gyro filter
rpid.filt_T_hz().set(10.0/(current.tau * 2 * M_PI));
// filtering T can prevent P/D oscillation being seen, so allow the
// user to switch it off
if (!has_option(DISABLE_FLTT_UPDATE)) {
rpid.filt_T_hz().set(10.0/(current.tau * 2 * M_PI));
}
rpid.filt_E_hz().set(0);
rpid.filt_D_hz().set(AP::ins().get_gyro_filter_hz()*0.5);
// filtering D at the same level as VTOL can allow unwanted oscillations to be seen,
// so allow the user to switch it off and select their own (usually lower) value
if (!has_option(DISABLE_FLTD_UPDATE)) {
rpid.filt_D_hz().set(AP::ins().get_gyro_filter_hz()*0.5);
}
current.FF = FF;
current.P = P;

9
libraries/APM_Control/AP_AutoTune.h
View File

@ -25,6 +25,11 @@ public:
AUTOTUNE_YAW = 2,
};
enum Options {
DISABLE_FLTD_UPDATE = 0,
DISABLE_FLTT_UPDATE = 1
};
struct PACKED log_ATRP {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -116,6 +121,10 @@ private:
// update rmax and tau towards target
void update_rmax();
bool has_option(Options option) {
return (aparm.autotune_options.get() & uint32_t(1<<uint32_t(option))) != 0;
}
// 5 point mode filter for FF estimate
ModeFilterFloat_Size5 ff_filter;