mirror of https://github.com/ArduPilot/ardupilot
336 lines
14 KiB
C++
336 lines
14 KiB
C++
/*
|
|
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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
support for autotune of multirotors. Based on original autotune code from ArduCopter, written by Leonard Hall
|
|
Converted to a library by Andrew Tridgell
|
|
*/
|
|
#pragma once
|
|
|
|
#include "AC_AutoTune_config.h"
|
|
|
|
#if AC_AUTOTUNE_ENABLED
|
|
|
|
#include <AC_AttitudeControl/AC_AttitudeControl.h>
|
|
#include <AC_AttitudeControl/AC_PosControl.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include "AC_AutoTune_FreqResp.h"
|
|
|
|
#define AUTOTUNE_AXIS_BITMASK_ROLL 1
|
|
#define AUTOTUNE_AXIS_BITMASK_PITCH 2
|
|
#define AUTOTUNE_AXIS_BITMASK_YAW 4
|
|
#define AUTOTUNE_AXIS_BITMASK_YAW_D 8
|
|
|
|
#define AUTOTUNE_SUCCESS_COUNT 4 // The number of successful iterations we need to freeze at current gains
|
|
|
|
// Auto Tune message ids for ground station
|
|
#define AUTOTUNE_MESSAGE_STARTED 0
|
|
#define AUTOTUNE_MESSAGE_STOPPED 1
|
|
#define AUTOTUNE_MESSAGE_SUCCESS 2
|
|
#define AUTOTUNE_MESSAGE_FAILED 3
|
|
#define AUTOTUNE_MESSAGE_SAVED_GAINS 4
|
|
#define AUTOTUNE_MESSAGE_TESTING 5
|
|
|
|
#define AUTOTUNE_ANNOUNCE_INTERVAL_MS 2000
|
|
|
|
#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000 // minimum target angle during TESTING_RATE step that will cause us to move to next step
|
|
#define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD 2000 // target angle during TESTING_RATE step that will cause us to move to next step
|
|
#define AUTOTUNE_TARGET_ANGLE_YAW_CD 3000 // target angle during TESTING_RATE step that will cause us to move to next step
|
|
|
|
class AC_AutoTune
|
|
{
|
|
public:
|
|
// constructor
|
|
AC_AutoTune();
|
|
|
|
// main run loop
|
|
virtual void run();
|
|
|
|
// save gained, called on disarm
|
|
virtual void save_tuning_gains() = 0;
|
|
|
|
// stop tune, reverting gains
|
|
void stop();
|
|
|
|
// reset Autotune so that gains are not saved again and autotune can be run again.
|
|
void reset() {
|
|
mode = UNINITIALISED;
|
|
axes_completed = 0;
|
|
}
|
|
|
|
protected:
|
|
// axis that can be tuned
|
|
enum AxisType {
|
|
ROLL = 0, // roll axis is being tuned (either angle or rate)
|
|
PITCH = 1, // pitch axis is being tuned (either angle or rate)
|
|
YAW = 2, // yaw axis is being tuned using FLTE (either angle or rate)
|
|
YAW_D = 3, // yaw axis is being tuned using D (either angle or rate)
|
|
};
|
|
|
|
//
|
|
// methods that must be supplied by the vehicle specific subclass
|
|
//
|
|
virtual bool init(void) = 0;
|
|
|
|
// get pilot input for desired climb rate
|
|
virtual float get_pilot_desired_climb_rate_cms(void) const = 0;
|
|
|
|
// get pilot input for designed roll and pitch, and yaw rate
|
|
virtual void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) = 0;
|
|
|
|
// init pos controller Z velocity and accel limits
|
|
virtual void init_z_limits() = 0;
|
|
|
|
// log PIDs at full rate for during twitch
|
|
virtual void log_pids() = 0;
|
|
|
|
//
|
|
// methods to load and save gains
|
|
//
|
|
|
|
// backup original gains and prepare for start of tuning
|
|
virtual void backup_gains_and_initialise();
|
|
|
|
// switch to use original gains
|
|
virtual void load_orig_gains() = 0;
|
|
|
|
// switch to gains found by last successful autotune
|
|
virtual void load_tuned_gains() = 0;
|
|
|
|
// load gains used between tests. called during testing mode's update-gains step to set gains ahead of return-to-level step
|
|
virtual void load_intra_test_gains() = 0;
|
|
|
|
// load gains for next test. relies on axis variable being set
|
|
virtual void load_test_gains() = 0;
|
|
|
|
// reset the test vaariables for each vehicle
|
|
virtual void reset_vehicle_test_variables() = 0;
|
|
|
|
// reset the update gain variables for each vehicle
|
|
virtual void reset_update_gain_variables() = 0;
|
|
|
|
// test initialization and run methods that should be overridden for each vehicle
|
|
virtual void test_init() = 0;
|
|
virtual void test_run(AxisType test_axis, const float dir_sign) = 0;
|
|
|
|
// return true if user has enabled autotune for roll, pitch or yaw axis
|
|
bool roll_enabled() const;
|
|
bool pitch_enabled() const;
|
|
bool yaw_enabled() const;
|
|
bool yaw_d_enabled() const;
|
|
|
|
// update gains for the rate p up tune type
|
|
virtual void updating_rate_p_up_all(AxisType test_axis)=0;
|
|
|
|
// update gains for the rate d up tune type
|
|
virtual void updating_rate_d_up_all(AxisType test_axis)=0;
|
|
|
|
// update gains for the rate d down tune type
|
|
virtual void updating_rate_d_down_all(AxisType test_axis)=0;
|
|
|
|
// update gains for the angle p up tune type
|
|
virtual void updating_angle_p_up_all(AxisType test_axis)=0;
|
|
|
|
// update gains for the angle p down tune type
|
|
virtual void updating_angle_p_down_all(AxisType test_axis)=0;
|
|
|
|
// set gains post tune for the tune type
|
|
virtual void set_gains_post_tune(AxisType test_axis)=0;
|
|
|
|
// reverse direction for twitch test
|
|
virtual bool twitch_reverse_direction() = 0;
|
|
|
|
virtual void Log_AutoTune() = 0;
|
|
virtual void Log_AutoTuneDetails() = 0;
|
|
virtual void Log_AutoTuneSweep() = 0;
|
|
|
|
// internal init function, should be called from init()
|
|
bool init_internals(bool use_poshold,
|
|
AC_AttitudeControl *attitude_control,
|
|
AC_PosControl *pos_control,
|
|
AP_AHRS_View *ahrs_view,
|
|
AP_InertialNav *inertial_nav);
|
|
|
|
// send intermittent updates to user on status of tune
|
|
virtual void do_gcs_announcements() = 0;
|
|
|
|
// send post test updates to user
|
|
virtual void do_post_test_gcs_announcements() = 0;
|
|
|
|
// send message with high level status (e.g. Started, Stopped)
|
|
void update_gcs(uint8_t message_id) const;
|
|
|
|
// send lower level step status (e.g. Pilot overrides Active)
|
|
void send_step_string();
|
|
|
|
// convert tune type to string for reporting
|
|
const char *type_string() const;
|
|
|
|
// return current axis string
|
|
const char *axis_string() const;
|
|
|
|
// report final gains for a given axis to GCS
|
|
virtual void report_final_gains(AxisType test_axis) const = 0;
|
|
|
|
// Functions added for heli autotune
|
|
|
|
// Add additional updating gain functions specific to heli
|
|
// generic method used by subclasses to update gains for the rate ff up tune type
|
|
virtual void updating_rate_ff_up_all(AxisType test_axis)=0;
|
|
|
|
// generic method used by subclasses to update gains for the max gain tune type
|
|
virtual void updating_max_gains_all(AxisType test_axis)=0;
|
|
|
|
// steps performed while in the tuning mode
|
|
enum StepType {
|
|
WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch
|
|
TESTING = 1, // autotune has begun a test and is watching the resulting vehicle movement
|
|
UPDATE_GAINS = 2 // autotune has completed a test and is updating the gains based on the results
|
|
};
|
|
|
|
// mini steps performed while in Tuning mode, Testing step
|
|
enum TuneType {
|
|
RD_UP = 0, // rate D is being tuned up
|
|
RD_DOWN = 1, // rate D is being tuned down
|
|
RP_UP = 2, // rate P is being tuned up
|
|
RFF_UP = 3, // rate FF is being tuned up
|
|
SP_UP = 4, // angle P is being tuned up
|
|
SP_DOWN = 5, // angle P is being tuned down
|
|
MAX_GAINS = 6, // max allowable stable gains are determined
|
|
TUNE_CHECK = 7, // frequency sweep with tuned gains
|
|
TUNE_COMPLETE = 8 // Reached end of tuning
|
|
};
|
|
TuneType tune_seq[6]; // holds sequence of tune_types to be performed
|
|
uint8_t tune_seq_curr; // current tune sequence step
|
|
|
|
// get the next tune type
|
|
void next_tune_type(TuneType &curr_tune_type, bool reset);
|
|
|
|
// Sets customizable tune sequence for the vehicle
|
|
virtual void set_tune_sequence() = 0;
|
|
|
|
// get_axis_bitmask accessor
|
|
virtual uint8_t get_axis_bitmask() const = 0;
|
|
|
|
// get_testing_step_timeout_ms accessor
|
|
virtual uint32_t get_testing_step_timeout_ms() const = 0;
|
|
|
|
// get attitude for slow position hold in autotune mode
|
|
void get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd);
|
|
|
|
// type of gains to load
|
|
enum GainType {
|
|
GAIN_ORIGINAL = 0,
|
|
GAIN_TEST = 1,
|
|
GAIN_INTRA_TEST = 2,
|
|
GAIN_TUNED = 3,
|
|
};
|
|
void load_gains(enum GainType gain_type);
|
|
|
|
// autotune modes (high level states)
|
|
enum TuneMode {
|
|
UNINITIALISED = 0, // autotune has never been run
|
|
TUNING = 1, // autotune is testing gains
|
|
SUCCESS = 2, // tuning has completed, user is flight testing the new gains
|
|
FAILED = 3, // tuning has failed, user is flying on original gains
|
|
};
|
|
TuneMode mode; // see TuneMode for what modes are allowed
|
|
|
|
// copies of object pointers to make code a bit clearer
|
|
AC_AttitudeControl *attitude_control;
|
|
AC_PosControl *pos_control;
|
|
AP_AHRS_View *ahrs_view;
|
|
AP_InertialNav *inertial_nav;
|
|
AP_Motors *motors;
|
|
|
|
AxisType axis; // current axis being tuned. see AxisType enum
|
|
bool positive_direction; // false = tuning in negative direction (i.e. left for roll), true = positive direction (i.e. right for roll)
|
|
StepType step; // see StepType for what steps are performed
|
|
TuneType tune_type; // see TuneType
|
|
bool ignore_next; // true = ignore the next test
|
|
bool twitch_first_iter; // true on first iteration of a twitch (used to signal we must step the attitude or rate target)
|
|
uint8_t axes_completed; // bitmask of completed axes
|
|
float test_rate_min; // the minimum angular rate achieved during TESTING_RATE step-multi only
|
|
float test_rate_max; // the maximum angular rate achieved during TESTING_RATE step-multi only
|
|
float test_angle_min; // the minimum angle achieved during TESTING_ANGLE step-multi only
|
|
float test_angle_max; // the maximum angle achieved during TESTING_ANGLE step-multi only
|
|
uint32_t step_start_time_ms; // start time of current tuning step (used for timeout checks)
|
|
uint32_t step_time_limit_ms; // time limit of current autotune process
|
|
int8_t counter; // counter for tuning gains
|
|
float target_rate; // target rate-multi only
|
|
float target_angle; // target angle-multi only
|
|
float start_rate; // start rate - parent and multi
|
|
float start_angle; // start angle
|
|
float rate_max; // maximum rate variable - parent and multi
|
|
float test_accel_max; // maximum acceleration variable
|
|
float step_scaler; // scaler to reduce maximum target step - parent and multi
|
|
float abort_angle; // Angle that test is aborted- parent and multi
|
|
float desired_yaw_cd; // yaw heading during tune - parent and Tradheli
|
|
|
|
LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second
|
|
|
|
// backup of currently being tuned parameter values
|
|
float orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_fltt, orig_roll_smax, orig_roll_sp, orig_roll_accel;
|
|
float orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_fltt, orig_pitch_smax, orig_pitch_sp, orig_pitch_accel;
|
|
float orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_fltt, orig_yaw_smax, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
|
|
bool orig_bf_feedforward;
|
|
|
|
// currently being tuned parameter values
|
|
float tune_roll_rp, tune_roll_rd, tune_roll_sp, tune_roll_accel;
|
|
float tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, tune_pitch_accel;
|
|
float tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, tune_yaw_accel;
|
|
float tune_roll_rff, tune_pitch_rff, tune_yaw_rd, tune_yaw_rff;
|
|
|
|
uint32_t announce_time;
|
|
float lean_angle;
|
|
float rotation_rate;
|
|
float roll_cd, pitch_cd;
|
|
|
|
// heli specific variables
|
|
uint8_t freq_cnt; // dwell test iteration counter
|
|
float start_freq; //start freq for dwell test
|
|
float stop_freq; //ending freq for dwell test
|
|
bool ff_up_first_iter; // true on first iteration of ff up testing
|
|
|
|
private:
|
|
// return true if we have a good position estimate
|
|
virtual bool position_ok();
|
|
|
|
// initialise position controller
|
|
bool init_position_controller();
|
|
|
|
// main state machine to level vehicle, perform a test and update gains
|
|
// directly updates attitude controller with targets
|
|
void control_attitude();
|
|
|
|
// returns true if vehicle is close to level
|
|
bool currently_level();
|
|
|
|
bool pilot_override; // true = pilot is overriding controls so we suspend tuning temporarily
|
|
bool use_poshold; // true = enable position hold
|
|
bool have_position; // true = start_position is value
|
|
Vector3f start_position; // target when holding position as an offset from EKF origin in cm in NEU frame
|
|
|
|
// variables
|
|
uint32_t override_time; // the last time the pilot overrode the controls
|
|
uint32_t level_start_time_ms; // start time of waiting for level
|
|
uint32_t level_fail_warning_time_ms; // last time level failure warning message was sent to GCS
|
|
|
|
// time in ms of last pilot override warning
|
|
uint32_t last_pilot_override_warning;
|
|
|
|
};
|
|
|
|
#endif // AC_AUTOTUNE_ENABLED
|