mirror of https://github.com/ArduPilot/ardupilot
232 lines
6.7 KiB
C++
232 lines
6.7 KiB
C++
#include "Copter.h"
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/*
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* Function to update various parameters in flight using the ch6 tuning knob
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* This should not be confused with the AutoTune feature which can bve found in control_autotune.cpp
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*/
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// tuning - updates parameters based on the ch6 tuning knob's position
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// should be called at 3.3hz
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void Copter::tuning()
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{
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const RC_Channel *rc6 = rc().channel(CH_6);
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// exit immediately if the tuning function is not set or min and max are both zero
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if ((g.radio_tuning <= 0) || (is_zero(g2.tuning_min.get()) && is_zero(g2.tuning_max.get()))) {
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return;
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}
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// exit immediately when radio failsafe is invoked or transmitter has not been turned on
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if (failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
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return;
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}
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// exit immediately if a function is assigned to channel 6
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if ((RC_Channel::aux_func_t)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
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return;
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}
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const uint16_t radio_in = rc6->get_radio_in();
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float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max());
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Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
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switch(g.radio_tuning) {
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// Roll, Pitch tuning
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case TUNING_STABILIZE_ROLL_PITCH_KP:
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attitude_control->get_angle_roll_p().kP(tuning_value);
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attitude_control->get_angle_pitch_p().kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KP:
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attitude_control->get_rate_roll_pid().kP(tuning_value);
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attitude_control->get_rate_pitch_pid().kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KI:
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attitude_control->get_rate_roll_pid().kI(tuning_value);
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attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KD:
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attitude_control->get_rate_roll_pid().kD(tuning_value);
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attitude_control->get_rate_pitch_pid().kD(tuning_value);
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break;
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// Yaw tuning
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case TUNING_STABILIZE_YAW_KP:
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attitude_control->get_angle_yaw_p().kP(tuning_value);
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break;
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case TUNING_YAW_RATE_KP:
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attitude_control->get_rate_yaw_pid().kP(tuning_value);
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break;
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case TUNING_YAW_RATE_KD:
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attitude_control->get_rate_yaw_pid().kD(tuning_value);
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break;
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// Altitude and throttle tuning
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case TUNING_ALTITUDE_HOLD_KP:
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pos_control->get_pos_z_p().kP(tuning_value);
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break;
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case TUNING_THROTTLE_RATE_KP:
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pos_control->get_vel_z_p().kP(tuning_value);
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break;
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case TUNING_ACCEL_Z_KP:
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pos_control->get_accel_z_pid().kP(tuning_value);
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break;
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case TUNING_ACCEL_Z_KI:
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pos_control->get_accel_z_pid().kI(tuning_value);
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break;
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case TUNING_ACCEL_Z_KD:
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pos_control->get_accel_z_pid().kD(tuning_value);
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break;
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// Loiter and navigation tuning
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case TUNING_LOITER_POSITION_KP:
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pos_control->get_pos_xy_p().kP(tuning_value);
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break;
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case TUNING_VEL_XY_KP:
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pos_control->get_vel_xy_pid().kP(tuning_value);
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break;
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case TUNING_VEL_XY_KI:
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pos_control->get_vel_xy_pid().kI(tuning_value);
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break;
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case TUNING_WP_SPEED:
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wp_nav->set_speed_xy(tuning_value);
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break;
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// Acro roll pitch gain
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case TUNING_ACRO_RP_KP:
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g.acro_rp_p = tuning_value;
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break;
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// Acro yaw gain
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case TUNING_ACRO_YAW_KP:
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g.acro_yaw_p = tuning_value;
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break;
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#if FRAME_CONFIG == HELI_FRAME
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case TUNING_HELI_EXTERNAL_GYRO:
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motors->ext_gyro_gain(tuning_value);
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break;
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case TUNING_RATE_PITCH_FF:
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attitude_control->get_rate_pitch_pid().ff(tuning_value);
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break;
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case TUNING_RATE_ROLL_FF:
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attitude_control->get_rate_roll_pid().ff(tuning_value);
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break;
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case TUNING_RATE_YAW_FF:
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attitude_control->get_rate_yaw_pid().ff(tuning_value);
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break;
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#endif
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case TUNING_DECLINATION:
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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
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break;
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#if MODE_CIRCLE_ENABLED == ENABLED
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case TUNING_CIRCLE_RATE:
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circle_nav->set_rate(tuning_value);
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break;
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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case TUNING_RANGEFINDER_GAIN:
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// set rangefinder gain
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g.rangefinder_gain.set(tuning_value);
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break;
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#endif
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#if 0
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// disabled for now - we need accessor functions
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case TUNING_EKF_VERTICAL_POS:
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// Tune the EKF that is being used
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// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
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if (!ahrs.get_NavEKF2().enabled()) {
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ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
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} else {
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ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value;
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}
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break;
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case TUNING_EKF_HORIZONTAL_POS:
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// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
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if (!ahrs.get_NavEKF2().enabled()) {
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ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
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} else {
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ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value;
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}
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break;
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case TUNING_EKF_ACCEL_NOISE:
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// EKF's accel noise (lower means trust accels more, gps & baro less)
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if (!ahrs.get_NavEKF2().enabled()) {
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ahrs.get_NavEKF()._accNoise = tuning_value;
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} else {
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ahrs.get_NavEKF2()._accNoise = tuning_value;
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}
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break;
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#endif
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case TUNING_RC_FEEL_RP:
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attitude_control->set_input_tc(tuning_value);
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break;
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case TUNING_RATE_PITCH_KP:
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attitude_control->get_rate_pitch_pid().kP(tuning_value);
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break;
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case TUNING_RATE_PITCH_KI:
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attitude_control->get_rate_pitch_pid().kI(tuning_value);
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break;
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case TUNING_RATE_PITCH_KD:
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attitude_control->get_rate_pitch_pid().kD(tuning_value);
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break;
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case TUNING_RATE_ROLL_KP:
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attitude_control->get_rate_roll_pid().kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_KI:
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attitude_control->get_rate_roll_pid().kI(tuning_value);
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break;
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case TUNING_RATE_ROLL_KD:
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attitude_control->get_rate_roll_pid().kD(tuning_value);
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break;
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#if FRAME_CONFIG != HELI_FRAME
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case TUNING_RATE_MOT_YAW_HEADROOM:
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motors->set_yaw_headroom(tuning_value);
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break;
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#endif
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case TUNING_RATE_YAW_FILT:
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attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value);
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break;
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#if WINCH_ENABLED == ENABLED
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case TUNING_WINCH:
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// add small deadzone
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if (fabsf(tuning_value) < 0.05f) {
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tuning_value = 0;
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}
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g2.winch.set_desired_rate(tuning_value);
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break;
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#endif
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}
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}
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