#include "Copter.h" /* * Function to update various parameters in flight using the ch6 tuning knob * This should not be confused with the AutoTune feature which can bve found in control_autotune.cpp */ // tuning - updates parameters based on the ch6 tuning knob's position // should be called at 3.3hz void Copter::tuning() { RC_Channel *rc6 = RC_Channels::rc_channel(CH_6); // exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) { return; } uint16_t radio_in = rc6->get_radio_in(); float v = constrain_float((radio_in - rc6->get_radio_min()) / float(rc6->get_radio_max() - rc6->get_radio_min()), 0, 1); int16_t control_in = g.radio_tuning_low + v * (g.radio_tuning_high - g.radio_tuning_low); float tuning_value = control_in / 1000.0f; // Tuning Value should never be outside the bounds of the specified low and high value tuning_value = constrain_float(tuning_value, g.radio_tuning_low/1000.0f, g.radio_tuning_high/1000.0f); Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, control_in, g.radio_tuning_low, g.radio_tuning_high); switch(g.radio_tuning) { // Roll, Pitch tuning case TUNING_STABILIZE_ROLL_PITCH_KP: attitude_control->get_angle_roll_p().kP(tuning_value); attitude_control->get_angle_pitch_p().kP(tuning_value); break; case TUNING_RATE_ROLL_PITCH_KP: attitude_control->get_rate_roll_pid().kP(tuning_value); attitude_control->get_rate_pitch_pid().kP(tuning_value); break; case TUNING_RATE_ROLL_PITCH_KI: attitude_control->get_rate_roll_pid().kI(tuning_value); attitude_control->get_rate_pitch_pid().kI(tuning_value); break; case TUNING_RATE_ROLL_PITCH_KD: attitude_control->get_rate_roll_pid().kD(tuning_value); attitude_control->get_rate_pitch_pid().kD(tuning_value); break; // Yaw tuning case TUNING_STABILIZE_YAW_KP: attitude_control->get_angle_yaw_p().kP(tuning_value); break; case TUNING_YAW_RATE_KP: attitude_control->get_rate_yaw_pid().kP(tuning_value); break; case TUNING_YAW_RATE_KD: attitude_control->get_rate_yaw_pid().kD(tuning_value); break; // Altitude and throttle tuning case TUNING_ALTITUDE_HOLD_KP: pos_control->get_pos_z_p().kP(tuning_value); break; case TUNING_THROTTLE_RATE_KP: pos_control->get_vel_z_p().kP(tuning_value); break; case TUNING_ACCEL_Z_KP: pos_control->get_accel_z_pid().kP(tuning_value); break; case TUNING_ACCEL_Z_KI: pos_control->get_accel_z_pid().kI(tuning_value); break; case TUNING_ACCEL_Z_KD: pos_control->get_accel_z_pid().kD(tuning_value); break; // Loiter and navigation tuning case TUNING_LOITER_POSITION_KP: pos_control->get_pos_xy_p().kP(tuning_value); break; case TUNING_VEL_XY_KP: pos_control->get_vel_xy_pid().kP(tuning_value); break; case TUNING_VEL_XY_KI: pos_control->get_vel_xy_pid().kI(tuning_value); break; case TUNING_WP_SPEED: // set waypoint navigation horizontal speed to 0 ~ 1000 cm/s wp_nav->set_speed_xy(control_in); break; // Acro roll pitch gain case TUNING_ACRO_RP_KP: g.acro_rp_p = tuning_value; break; // Acro yaw gain case TUNING_ACRO_YAW_KP: g.acro_yaw_p = tuning_value; break; #if FRAME_CONFIG == HELI_FRAME case TUNING_HELI_EXTERNAL_GYRO: motors->ext_gyro_gain((float)control_in / 1000.0f); break; case TUNING_RATE_PITCH_FF: attitude_control->get_rate_pitch_pid().ff(tuning_value); break; case TUNING_RATE_ROLL_FF: attitude_control->get_rate_roll_pid().ff(tuning_value); break; case TUNING_RATE_YAW_FF: attitude_control->get_rate_yaw_pid().ff(tuning_value); break; #endif case TUNING_DECLINATION: // set declination to +-20degrees compass.set_declination(ToRad((2.0f * control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact break; case TUNING_CIRCLE_RATE: // set circle rate up to approximately 45 deg/sec in either direction circle_nav->set_rate((float)control_in/25.0f-20.0f); break; case TUNING_RANGEFINDER_GAIN: // set rangefinder gain g.rangefinder_gain.set(tuning_value); break; #if 0 // disabled for now - we need accessor functions case TUNING_EKF_VERTICAL_POS: // Tune the EKF that is being used // EKF's baro vs accel (higher rely on accels more, baro impact is reduced) if (!ahrs.get_NavEKF2().enabled()) { ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value; } else { ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value; } break; case TUNING_EKF_HORIZONTAL_POS: // EKF's gps vs accel (higher rely on accels more, gps impact is reduced) if (!ahrs.get_NavEKF2().enabled()) { ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value; } else { ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value; } break; case TUNING_EKF_ACCEL_NOISE: // EKF's accel noise (lower means trust accels more, gps & baro less) if (!ahrs.get_NavEKF2().enabled()) { ahrs.get_NavEKF()._accNoise = tuning_value; } else { ahrs.get_NavEKF2()._accNoise = tuning_value; } break; #endif case TUNING_RC_FEEL_RP: // roll-pitch input smoothing g.rc_feel_rp = control_in / 10; break; case TUNING_RATE_PITCH_KP: attitude_control->get_rate_pitch_pid().kP(tuning_value); break; case TUNING_RATE_PITCH_KI: attitude_control->get_rate_pitch_pid().kI(tuning_value); break; case TUNING_RATE_PITCH_KD: attitude_control->get_rate_pitch_pid().kD(tuning_value); break; case TUNING_RATE_ROLL_KP: attitude_control->get_rate_roll_pid().kP(tuning_value); break; case TUNING_RATE_ROLL_KI: attitude_control->get_rate_roll_pid().kI(tuning_value); break; case TUNING_RATE_ROLL_KD: attitude_control->get_rate_roll_pid().kD(tuning_value); break; #if FRAME_CONFIG != HELI_FRAME case TUNING_RATE_MOT_YAW_HEADROOM: motors->set_yaw_headroom(tuning_value*1000); break; #endif case TUNING_RATE_YAW_FILT: attitude_control->get_rate_yaw_pid().filt_hz(tuning_value); break; case TUNING_WINCH: { float desired_rate = 0.0f; if (v > 0.6f) { desired_rate = g2.winch.get_rate_max() * (v - 0.6f) / 0.4f; } if (v < 0.4f) { desired_rate = g2.winch.get_rate_max() * (v - 0.4) / 0.4f; } g2.winch.set_desired_rate(desired_rate); break; } } }