mirror of
https://github.com/ArduPilot/ardupilot
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50fc75917e
this adds autotune to the roll/pitch controllers using a very simple mechanism. The plan is that this provides a framework which Paul and Jon will build upon.
70 lines
1.5 KiB
C++
70 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_AUTOTUNE_H__
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#define __AP_AUTOTUNE_H__
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#include <AP_HAL.h>
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#include <AP_Param.h>
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class AP_AutoTune {
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public:
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struct ATGains {
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AP_Float tau;
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AP_Float P;
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AP_Float I;
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AP_Float D;
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AP_Int16 rmax;
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AP_Int16 imax;
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};
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// constructor
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AP_AutoTune(ATGains &_gains);
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// called when autotune mode is entered
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void start(void);
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// called to stop autotune and restore gains when user leaves
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// autotune
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void stop(void);
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// update called whenever autotune mode is active. This is
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// typically at 50Hz
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void update(float desired_rate, float achieved_rate, float servo_out);
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// are we running?
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bool running:1;
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private:
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// the current gains
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ATGains ¤t;
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// did we saturate surfaces?
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bool saturated_surfaces:1;
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// values to restore if we leave autotune mode
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ATGains restore;
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// values to save on the next save event
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ATGains next_save;
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// time when we last saved
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uint32_t last_save_ms;
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// the demanded/achieved state
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enum ATState {DEMAND_UNSATURATED,
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DEMAND_UNDER_POS,
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DEMAND_OVER_POS,
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DEMAND_UNDER_NEG,
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DEMAND_OVER_NEG} state;
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// when we entered the current state
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uint32_t state_enter_ms;
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void check_save(void);
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void check_state_exit(uint32_t state_time_ms);
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void save_gains(const ATGains &v);
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};
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#endif // __AP_AUTOTUNE_H__
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