#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() { const RC_Channel *rc6 = rc().channel(CH_6); // exit immediately if the tuning function is not set or min and max are both zero if ((g.radio_tuning <= 0) || (is_zero(g2.tuning_min.get()) && is_zero(g2.tuning_max.get()))) { return; } // exit immediately when radio failsafe is invoked or transmitter has not been turned on if (failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) { return; } // exit immediately if a function is assigned to channel 6 if ((RC_Channel::aux_func_t)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) { return; } const uint16_t radio_in = rc6->get_radio_in(); float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max()); Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max); 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: wp_nav->set_speed_xy(tuning_value); 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(tuning_value); 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: compass.set_declination(ToRad(tuning_value), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact break; #if MODE_CIRCLE_ENABLED == ENABLED case TUNING_CIRCLE_RATE: circle_nav->set_rate(tuning_value); break; #endif #if RANGEFINDER_ENABLED == ENABLED case TUNING_RANGEFINDER_GAIN: // set rangefinder gain g.rangefinder_gain.set(tuning_value); break; #endif #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: attitude_control->set_input_tc(tuning_value); 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); break; #endif case TUNING_RATE_YAW_FILT: attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value); break; #if WINCH_ENABLED == ENABLED case TUNING_WINCH: // add small deadzone if (fabsf(tuning_value) < 0.05f) { tuning_value = 0; } g2.winch.set_desired_rate(tuning_value); break; #endif case TUNING_SYSTEM_ID_MAGNITUDE: #if MODE_SYSTEMID_ENABLED == ENABLED copter.mode_systemid.set_magnitude(tuning_value); #endif break; } }