/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* support for autotune of helicopters */ #pragma once #include "AC_AutoTune.h" class AC_AutoTune_Heli : public AC_AutoTune { public: // constructor AC_AutoTune_Heli(); // save gained, called on disarm void save_tuning_gains() override; // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; protected: // // methods to load and save gains // // backup original gains and prepare for start of tuning void backup_gains_and_initialise() override; // switch to use original gains void load_orig_gains() override; // switch to gains found by last successful autotune void load_tuned_gains() override; // load gains used between tests. called during testing mode's update-gains step to set gains ahead of return-to-level step void load_intra_test_gains() override; // load test gains void load_test_gains() override; // reset the test vaariables for heli void reset_vehicle_test_variables() override; // reset the update gain variables for heli void reset_update_gain_variables() override; // initializes test void test_init() override; // runs test void test_run(AxisType test_axis, const float dir_sign) override; // update gains for the rate p up tune type void updating_rate_p_up_all(AxisType test_axis) override; // update gains for the rate d up tune type void updating_rate_d_up_all(AxisType test_axis) override; // update gains for the rate d down tune type void updating_rate_d_down_all(AxisType test_axis) override {}; // update gains for the rate ff up tune type void updating_rate_ff_up_all(AxisType test_axis) override; // update gains for the angle p up tune type void updating_angle_p_up_all(AxisType test_axis) override; // update gains for the angle p down tune type void updating_angle_p_down_all(AxisType test_axis) override {}; // update gains for the max gain tune type void updating_max_gains_all(AxisType test_axis) override; // set gains post tune for the tune type void set_gains_post_tune(AxisType test_axis) override; // reverse direction for twitch test bool twitch_reverse_direction() override { return positive_direction; } // methods to log autotune summary data void Log_AutoTune() override; void Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float dwell_freq, float meas_gain, float meas_phase, float new_gain_rff, float new_gain_rp, float new_gain_rd, float new_gain_sp, float max_accel); // methods to log autotune time history results for command, angular rate, and attitude. void Log_AutoTuneDetails() override; void Log_Write_AutoTuneDetails(float motor_cmd, float tgt_rate_rads, float rate_rads, float tgt_ang_rad, float ang_rad); // methods to log autotune frequency response results void Log_AutoTuneSweep() override; void Log_Write_AutoTuneSweep(float freq, float gain, float phase); // send intermittant updates to user on status of tune void do_gcs_announcements() override; // send post test updates to user void do_post_test_gcs_announcements() override; // report final gains for a given axis to GCS void report_final_gains(AxisType test_axis) const override; // set the tuning test sequence void set_tune_sequence() override; // get_axis_bitmask accessor uint8_t get_axis_bitmask() const override { return axis_bitmask; } // get_testing_step_timeout_ms accessor uint32_t get_testing_step_timeout_ms() const override; private: // max_gain_data type stores information from the max gain test struct max_gain_data { float freq; float phase; float gain; float max_allowed; }; // max gain data for rate p tuning max_gain_data max_rate_p; // max gain data for rate d tuning max_gain_data max_rate_d; // Feedforward test used to determine Rate FF gain void rate_ff_test_init(); void rate_ff_test_run(float max_angle_cds, float target_rate_cds, float dir_sign); // dwell test used to perform frequency dwells for rate gains void dwell_test_init(float start_frq, float filt_freq); void dwell_test_run(uint8_t freq_resp_input, float start_frq, float stop_frq, float &dwell_gain, float &dwell_phase); // dwell test used to perform frequency dwells for angle gains void angle_dwell_test_init(float start_frq, float filt_freq); void angle_dwell_test_run(float start_frq, float stop_frq, float &dwell_gain, float &dwell_phase); // generates waveform for frequency sweep excitations float waveform(float time, float time_record, float waveform_magnitude, float wMin, float wMax); // updating_rate_ff_up - adjust FF to ensure the target is reached // FF is adjusted until rate requested is acheived void updating_rate_ff_up(float &tune_ff, float rate_target, float meas_rate, float meas_command); // updating_rate_p_up - uses maximum allowable gain determined from max_gain test to determine rate p gain that does not exceed exceed max response gain void updating_rate_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_p); // updating_rate_d_up - uses maximum allowable gain determined from max_gain test to determine rate d gain where the response gain is at a minimum void updating_rate_d_up(float &tune_d, float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_d); // updating_angle_p_up - determines maximum angle p gain for pitch and roll void updating_angle_p_up(float &tune_p, float *freq, float *gain, float *phase, uint8_t &frq_cnt); // updating_max_gains: use dwells at increasing frequency to determine gain at which instability will occur void updating_max_gains(float *freq, float *gain, float *phase, uint8_t &frq_cnt, max_gain_data &max_gain_p, max_gain_data &max_gain_d, float &tune_p, float &tune_d); // reset the max_gains update gain variables void reset_maxgains_update_gain_variables(); // reset the sweep variables void reset_sweep_variables(); // exceeded_freq_range - ensures tuning remains inside frequency range bool exceeded_freq_range(float frequency); // report gain formating helper void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float rate_ff, float angle_P, float max_accel) const; // updating rate FF variables // flag for completion of the initial direction for the feedforward test bool first_dir_complete; // feedforward gain resulting from testing in the initial direction float first_dir_rff; // updating max gain variables // flag for finding maximum p gain bool found_max_p; // flag for finding maximum d gain bool found_max_d; // flag for interpolating to find max response gain bool find_middle; // updating angle P up variables // track the maximum phase float phase_max; // previous gain float sp_prev_gain; // flag for finding the peak of the gain response bool find_peak; // updating angle P up yaw // counter value of previous good frequency uint8_t sp_prev_good_frq_cnt; // updating rate P up // counter value of previous good frequency uint8_t rp_prev_good_frq_cnt; // previous gain float rp_prev_gain; // updating rate D up // counter value of previous good frequency uint8_t rd_prev_good_frq_cnt; // previous gain float rd_prev_gain; uint8_t ff_test_phase; // phase of feedforward test float test_command_filt; // filtered commanded output for FF test analysis float test_rate_filt; // filtered rate output for FF test analysis float command_out; // test axis command output float test_tgt_rate_filt; // filtered target rate for FF test analysis float filt_target_rate; // filtered target rate float test_gain[20]; // frequency response gain for each dwell test iteration float test_freq[20]; // frequency of each dwell test iteration float test_phase[20]; // frequency response phase for each dwell test iteration float dwell_start_time_ms; // start time in ms of dwell test uint8_t freq_cnt_max; // counter number for frequency that produced max gain response float curr_test_freq; // current test frequency float curr_test_gain; // current test frequency response gain float curr_test_phase; // current test frequency response phase Vector3f start_angles; // aircraft attitude at the start of test uint32_t settle_time; // time in ms for allowing aircraft to stabilize before initiating test uint32_t phase_out_time; // time in ms to phase out response float waveform_freq_rads; //current frequency for chirp waveform float trim_pff_out; // trim output of the PID rate controller for P, I and FF terms float trim_meas_rate; // trim measured gyro rate //variables from rate FF test float trim_command_reading; float trim_heading; LowPassFilterFloat rate_request_cds; LowPassFilterFloat angle_request_cd; // variables from dwell test LowPassFilterVector2f filt_pit_roll_cd; // filtered pitch and roll attitude for dwell rate method LowPassFilterFloat filt_heading_error_cd; // filtered heading error for dwell rate method LowPassFilterVector2f filt_att_fdbk_from_velxy_cd; LowPassFilterFloat filt_command_reading; // filtered command reading to keep oscillation centered LowPassFilterFloat filt_gyro_reading; // filtered gyro reading to keep oscillation centered LowPassFilterFloat filt_tgt_rate_reading; // filtered target rate reading to keep oscillation centered // trim variables for determining trim state prior to test starting Vector3f trim_attitude_cd; // trim attitude before starting test float trim_command; // trim target yaw reading before starting test float trim_yaw_tgt_reading; // trim target yaw reading before starting test float trim_yaw_heading_reading; // trim heading reading before starting test LowPassFilterFloat command_filt; // filtered command - filtering intended to remove noise LowPassFilterFloat target_rate_filt; // filtered target rate in radians/second - filtering intended to remove noise // sweep_data tracks the overall characteristics in the response to the frequency sweep struct sweep_data { float maxgain_freq; float maxgain_gain; float maxgain_phase; float ph180_freq; float ph180_gain; float ph180_phase; float ph270_freq; float ph270_gain; float ph270_phase; uint8_t progress; // set based on phase of frequency response. 0 - start; 1 - reached 180 deg; 2 - reached 270 deg; }; sweep_data sweep; // parameters AP_Int8 axis_bitmask; // axes to be tuned AP_Int8 seq_bitmask; // tuning sequence bitmask AP_Float min_sweep_freq; // minimum sweep frequency AP_Float max_sweep_freq; // maximum sweep frequency AP_Float max_resp_gain; // maximum response gain AP_Float vel_hold_gain; // gain for velocity hold // freqresp object for the rate frequency response tests AC_AutoTune_FreqResp freqresp_rate; // freqresp object for the angle frequency response tests AC_AutoTune_FreqResp freqresp_angle; };