mirror of https://github.com/ArduPilot/ardupilot
1322 lines
67 KiB
C++
1322 lines
67 KiB
C++
#include "Copter.h"
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#if AUTOTUNE_ENABLED == ENABLED
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/*
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* Init and run calls for autotune flight mode
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*
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* Instructions:
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* 1) Set up one flight mode switch position to be AltHold.
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* 2) Set the Ch7 Opt or Ch8 Opt to AutoTune to allow you to turn the auto tuning on/off with the ch7 or ch8 switch.
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* 3) Ensure the ch7 or ch8 switch is in the LOW position.
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* 4) Wait for a calm day and go to a large open area.
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* 5) Take off and put the vehicle into AltHold mode at a comfortable altitude.
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* 6) Set the ch7/ch8 switch to the HIGH position to engage auto tuning:
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* a) You will see it twitch about 20 degrees left and right for a few minutes, then it will repeat forward and back.
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* b) Use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID gains during repositioning and between tests).
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* When you release the sticks it will continue auto tuning where it left off.
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* c) Move the ch7/ch8 switch into the LOW position at any time to abandon the autotuning and return to the origin PIDs.
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* d) Make sure that you do not have any trim set on your transmitter or the autotune may not get the signal that the sticks are centered.
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* 7) When the tune completes the vehicle will change back to the original PID gains.
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* 8) Put the ch7/ch8 switch into the LOW position then back to the HIGH position to test the tuned PID gains.
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* 9) Put the ch7/ch8 switch into the LOW position to fly using the original PID gains.
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* 10) If you are happy with the autotuned PID gains, leave the ch7/ch8 switch in the HIGH position, land and disarm to save the PIDs permanently.
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* If you DO NOT like the new PIDS, switch ch7/ch8 LOW to return to the original PIDs. The gains will not be saved when you disarm
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*
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* What it's doing during each "twitch":
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* a) invokes 90 deg/sec rate request
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* b) records maximum "forward" roll rate and bounce back rate
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* c) when copter reaches 20 degrees or 1 second has passed, it commands level
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* d) tries to keep max rotation rate between 80% ~ 100% of requested rate (90deg/sec) by adjusting rate P
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* e) increases rate D until the bounce back becomes greater than 10% of requested rate (90deg/sec)
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* f) decreases rate D until the bounce back becomes less than 10% of requested rate (90deg/sec)
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* g) increases rate P until the max rotate rate becomes greater than the request rate (90deg/sec)
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* h) invokes a 20deg angle request on roll or pitch
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* i) increases stab P until the maximum angle becomes greater than 110% of the requested angle (20deg)
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* j) decreases stab P by 25%
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*
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*/
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#define AUTOTUNE_AXIS_BITMASK_ROLL 1
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#define AUTOTUNE_AXIS_BITMASK_PITCH 2
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#define AUTOTUNE_AXIS_BITMASK_YAW 4
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#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds
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#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 1000 // timeout for tuning mode's testing step
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#define AUTOTUNE_LEVEL_ANGLE_CD 300 // angle which qualifies as level
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#define AUTOTUNE_LEVEL_RATE_RP_CD 1000 // rate which qualifies as level for roll and pitch
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#define AUTOTUNE_LEVEL_RATE_Y_CD 750 // rate which qualifies as level for yaw
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#define AUTOTUNE_REQUIRED_LEVEL_TIME_MS 500 // time we require the copter to be level
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#define AUTOTUNE_RD_STEP 0.05f // minimum increment when increasing/decreasing Rate D term
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#define AUTOTUNE_RP_STEP 0.05f // minimum increment when increasing/decreasing Rate P term
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#define AUTOTUNE_SP_STEP 0.05f // minimum increment when increasing/decreasing Stab P term
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#define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
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#define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing
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#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing
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#define AUTOTUNE_RD_MAX 0.200f // maximum Rate D value
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#define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value
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#define AUTOTUNE_RLPF_MAX 5.0f // maximum Rate Yaw filter value
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#define AUTOTUNE_RP_MIN 0.01f // minimum Rate P value
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#define AUTOTUNE_RP_MAX 2.0f // maximum Rate P value
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#define AUTOTUNE_SP_MAX 20.0f // maximum Stab P value
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#define AUTOTUNE_SP_MIN 0.5f // maximum Stab P value
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#define AUTOTUNE_RP_ACCEL_MIN 4000.0f // Minimum acceleration for Roll and Pitch
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#define AUTOTUNE_Y_ACCEL_MIN 1000.0f // Minimum acceleration for Yaw
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#define AUTOTUNE_Y_FILT_FREQ 10.0f // Autotune filter frequency when testing Yaw
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#define AUTOTUNE_SUCCESS_COUNT 4 // The number of successful iterations we need to freeze at current gains
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#define AUTOTUNE_D_UP_DOWN_MARGIN 0.2f // The margin below the target that we tune D in
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#define AUTOTUNE_RD_BACKOFF 1.0f // Rate D gains are reduced to 50% of their maximum value discovered during tuning
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#define AUTOTUNE_RP_BACKOFF 1.0f // Rate P gains are reduced to 97.5% of their maximum value discovered during tuning
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#define AUTOTUNE_SP_BACKOFF 0.9f // Stab P gains are reduced to 90% of their maximum value discovered during tuning
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#define AUTOTUNE_ACCEL_RP_BACKOFF 1.0f // back off from maximum acceleration
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#define AUTOTUNE_ACCEL_Y_BACKOFF 1.0f // back off from maximum acceleration
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// roll and pitch axes
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#define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD 2000 // target angle during TESTING_RATE step that will cause us to move to next step
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#define AUTOTUNE_TARGET_RATE_RLLPIT_CDS 9000 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
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#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000 // minimum target angle during TESTING_RATE step that will cause us to move to next step
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#define AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS 4500 // target roll/pitch rate during AUTOTUNE_STEP_TWITCHING step
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// yaw axis
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#define AUTOTUNE_TARGET_ANGLE_YAW_CD 3000 // target angle during TESTING_RATE step that will cause us to move to next step
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#define AUTOTUNE_TARGET_RATE_YAW_CDS 9000 // target yaw rate during AUTOTUNE_STEP_TWITCHING step
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#define AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD 500 // minimum target angle during TESTING_RATE step that will cause us to move to next step
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#define AUTOTUNE_TARGET_MIN_RATE_YAW_CDS 1500 // minimum target yaw rate during AUTOTUNE_STEP_TWITCHING step
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// Auto Tune message ids for ground station
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#define AUTOTUNE_MESSAGE_STARTED 0
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#define AUTOTUNE_MESSAGE_STOPPED 1
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#define AUTOTUNE_MESSAGE_SUCCESS 2
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#define AUTOTUNE_MESSAGE_FAILED 3
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#define AUTOTUNE_MESSAGE_SAVED_GAINS 4
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// autotune modes (high level states)
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enum AutoTuneTuneMode {
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AUTOTUNE_MODE_UNINITIALISED = 0, // autotune has never been run
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AUTOTUNE_MODE_TUNING = 1, // autotune is testing gains
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AUTOTUNE_MODE_SUCCESS = 2, // tuning has completed, user is flight testing the new gains
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AUTOTUNE_MODE_FAILED = 3, // tuning has failed, user is flying on original gains
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};
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// steps performed while in the tuning mode
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enum AutoTuneStepType {
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AUTOTUNE_STEP_WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch
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AUTOTUNE_STEP_TWITCHING = 1, // autotune has begun a twitch and is watching the resulting vehicle movement
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AUTOTUNE_STEP_UPDATE_GAINS = 2 // autotune has completed a twitch and is updating the gains based on the results
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};
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// things that can be tuned
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enum AutoTuneAxisType {
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AUTOTUNE_AXIS_ROLL = 0, // roll axis is being tuned (either angle or rate)
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AUTOTUNE_AXIS_PITCH = 1, // pitch axis is being tuned (either angle or rate)
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AUTOTUNE_AXIS_YAW = 2, // pitch axis is being tuned (either angle or rate)
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};
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// mini steps performed while in Tuning mode, Testing step
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enum AutoTuneTuneType {
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AUTOTUNE_TYPE_RD_UP = 0, // rate D is being tuned up
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AUTOTUNE_TYPE_RD_DOWN = 1, // rate D is being tuned down
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AUTOTUNE_TYPE_RP_UP = 2, // rate P is being tuned up
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AUTOTUNE_TYPE_SP_DOWN = 3, // angle P is being tuned up
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AUTOTUNE_TYPE_SP_UP = 4 // angle P is being tuned up
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};
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// autotune_state_struct - hold state flags
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struct autotune_state_struct {
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AutoTuneTuneMode mode : 2; // see AutoTuneTuneMode for what modes are allowed
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uint8_t pilot_override : 1; // 1 = pilot is overriding controls so we suspend tuning temporarily
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AutoTuneAxisType axis : 2; // see AutoTuneAxisType for which things can be tuned
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uint8_t positive_direction : 1; // 0 = tuning in negative direction (i.e. left for roll), 1 = positive direction (i.e. right for roll)
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AutoTuneStepType step : 2; // see AutoTuneStepType for what steps are performed
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AutoTuneTuneType tune_type : 3; // see AutoTuneTuneType
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uint8_t ignore_next : 1; // 1 = ignore the next test
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} autotune_state;
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// variables
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static uint32_t autotune_override_time; // the last time the pilot overrode the controls
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static float autotune_test_min; // the minimum angular rate achieved during TESTING_RATE step
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static float autotune_test_max; // the maximum angular rate achieved during TESTING_RATE step
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static uint32_t autotune_step_start_time; // start time of current tuning step (used for timeout checks)
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static uint32_t autotune_step_stop_time; // start time of current tuning step (used for timeout checks)
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static int8_t autotune_counter; // counter for tuning gains
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static float autotune_target_rate, autotune_start_rate; // target and start rate
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static float autotune_target_angle, autotune_start_angle; // target and start angles
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static float autotune_desired_yaw; // yaw heading during tune
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static float rate_max, autotune_test_accel_max; // maximum acceleration variables
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LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second
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// backup of currently being tuned parameter values
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static float orig_roll_rp = 0, orig_roll_ri, orig_roll_rd, orig_roll_sp, orig_roll_accel;
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static float orig_pitch_rp = 0, orig_pitch_ri, orig_pitch_rd, orig_pitch_sp, orig_pitch_accel;
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static float orig_yaw_rp = 0, orig_yaw_ri, orig_yaw_rd, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
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static bool orig_bf_feedforward;
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// currently being tuned parameter values
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static float tune_roll_rp, tune_roll_rd, tune_roll_sp, tune_roll_accel;
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static float tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, tune_pitch_accel;
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static float tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, tune_yaw_accel;
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// autotune_init - should be called when autotune mode is selected
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bool Copter::autotune_init(bool ignore_checks)
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{
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bool success = true;
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switch (autotune_state.mode) {
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case AUTOTUNE_MODE_FAILED:
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// autotune has been run but failed so reset state to uninitialized
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autotune_state.mode = AUTOTUNE_MODE_UNINITIALISED;
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// no break to allow fall through to restart the tuning
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case AUTOTUNE_MODE_UNINITIALISED:
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// autotune has never been run
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success = autotune_start(false);
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if (success) {
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// so store current gains as original gains
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autotune_backup_gains_and_initialise();
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// advance mode to tuning
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autotune_state.mode = AUTOTUNE_MODE_TUNING;
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// send message to ground station that we've started tuning
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autotune_update_gcs(AUTOTUNE_MESSAGE_STARTED);
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}
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break;
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case AUTOTUNE_MODE_TUNING:
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// we are restarting tuning after the user must have switched ch7/ch8 off so we restart tuning where we left off
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success = autotune_start(false);
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if (success) {
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// reset gains to tuning-start gains (i.e. low I term)
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autotune_load_intra_test_gains();
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// write dataflash log even and send message to ground station
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Log_Write_Event(DATA_AUTOTUNE_RESTART);
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autotune_update_gcs(AUTOTUNE_MESSAGE_STARTED);
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}
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break;
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case AUTOTUNE_MODE_SUCCESS:
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// we have completed a tune and the pilot wishes to test the new gains in the current flight mode
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// so simply apply tuning gains (i.e. do not change flight mode)
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autotune_load_tuned_gains();
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Log_Write_Event(DATA_AUTOTUNE_PILOT_TESTING);
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break;
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}
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return success;
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}
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// autotune_stop - should be called when the ch7/ch8 switch is switched OFF
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void Copter::autotune_stop()
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{
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// set gains to their original values
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autotune_load_orig_gains();
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// re-enable angle-to-rate request limits
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attitude_control.use_ff_and_input_shaping(true);
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// log off event and send message to ground station
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autotune_update_gcs(AUTOTUNE_MESSAGE_STOPPED);
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Log_Write_Event(DATA_AUTOTUNE_OFF);
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// Note: we leave the autotune_state.mode as it was so that we know how the autotune ended
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// we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
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}
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// autotune_start - Initialize autotune flight mode
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bool Copter::autotune_start(bool ignore_checks)
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{
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// only allow flip from Stabilize or AltHold flight modes
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if (control_mode != STABILIZE && control_mode != ALT_HOLD) {
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return false;
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}
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// ensure throttle is above zero
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if (ap.throttle_zero) {
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return false;
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}
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// ensure we are flying
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if (!motors.armed() || !ap.auto_armed || ap.land_complete) {
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return false;
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}
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// initialize vertical speeds and leash lengths
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// initialise position and desired velocity
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if (!pos_control.is_active_z()) {
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pos_control.set_alt_target_to_current_alt();
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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}
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return true;
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}
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// autotune_run - runs the autotune flight mode
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// should be called at 100hz or more
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void Copter::autotune_run()
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{
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float target_roll, target_pitch;
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float target_yaw_rate;
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int16_t target_climb_rate;
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// initialize vertical speeds and acceleration
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pos_control.set_speed_z(-g.pilot_velocity_z_max, g.pilot_velocity_z_max);
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pos_control.set_accel_z(g.pilot_accel_z);
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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// this should not actually be possible because of the autotune_init() checks
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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pos_control.relax_alt_hold_controllers(0.0f);
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return;
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}
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// get pilot desired lean angles
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get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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// get pilot desired climb rate
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target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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// check for pilot requested take-off - this should not actually be possible because of autotune_init() checks
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if (ap.land_complete && target_climb_rate > 0) {
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// indicate we are taking off
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set_land_complete(false);
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// clear i term when we're taking off
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set_throttle_takeoff();
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}
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// reset target lean angles and heading while landed
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if (ap.land_complete) {
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// set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
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if (target_climb_rate < 0.0f) {
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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} else {
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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}
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attitude_control.reset_rate_controller_I_terms();
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attitude_control.set_yaw_target_to_current_heading();
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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pos_control.relax_alt_hold_controllers(0.0f);
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pos_control.update_z_controller();
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}else{
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// check if pilot is overriding the controls
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if (!is_zero(target_roll) || !is_zero(target_pitch) || !is_zero(target_yaw_rate) || target_climb_rate != 0) {
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if (!autotune_state.pilot_override) {
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autotune_state.pilot_override = true;
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// set gains to their original values
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autotune_load_orig_gains();
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attitude_control.use_ff_and_input_shaping(true);
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}
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// reset pilot override time
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autotune_override_time = millis();
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}else if (autotune_state.pilot_override) {
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// check if we should resume tuning after pilot's override
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if (millis() - autotune_override_time > AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS) {
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autotune_state.pilot_override = false; // turn off pilot override
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// set gains to their intra-test values (which are very close to the original gains)
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// autotune_load_intra_test_gains(); //I think we should be keeping the originals here to let the I term settle quickly
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autotune_state.step = AUTOTUNE_STEP_WAITING_FOR_LEVEL; // set tuning step back from beginning
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autotune_desired_yaw = ahrs.yaw_sensor;
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// if pilot override call attitude controller
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if (autotune_state.pilot_override || autotune_state.mode != AUTOTUNE_MODE_TUNING) {
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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}else{
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// somehow get attitude requests from autotuning
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autotune_attitude_control();
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}
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// call position controller
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pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
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pos_control.update_z_controller();
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}
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}
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// autotune_attitude_controller - sets attitude control targets during tuning
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void Copter::autotune_attitude_control()
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{
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float rotation_rate = 0.0f; // rotation rate in radians/second
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float lean_angle = 0.0f;
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const float direction_sign = autotune_state.positive_direction ? 1.0f : -1.0f;
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// check tuning step
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switch (autotune_state.step) {
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case AUTOTUNE_STEP_WAITING_FOR_LEVEL:
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// Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
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// re-enable rate limits
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attitude_control.use_ff_and_input_shaping(true);
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// hold level attitude
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attitude_control.input_euler_angle_roll_pitch_yaw( 0.0f, 0.0f, autotune_desired_yaw, true, get_smoothing_gain());
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// hold the copter level for 0.5 seconds before we begin a twitch
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// reset counter if we are no longer level
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if ((labs(ahrs.roll_sensor) > AUTOTUNE_LEVEL_ANGLE_CD) ||
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|
(labs(ahrs.pitch_sensor) > AUTOTUNE_LEVEL_ANGLE_CD) ||
|
|
(labs(wrap_180_cd(ahrs.yaw_sensor-(int32_t)autotune_desired_yaw)) > AUTOTUNE_LEVEL_ANGLE_CD) ||
|
|
((ToDeg(ahrs.get_gyro().x) * 100.0f) > AUTOTUNE_LEVEL_RATE_RP_CD) ||
|
|
((ToDeg(ahrs.get_gyro().y) * 100.0f) > AUTOTUNE_LEVEL_RATE_RP_CD) ||
|
|
((ToDeg(ahrs.get_gyro().z) * 100.0f) > AUTOTUNE_LEVEL_RATE_Y_CD) ) {
|
|
autotune_step_start_time = millis();
|
|
}
|
|
|
|
// if we have been level for a sufficient amount of time (0.5 seconds) move onto tuning step
|
|
if (millis() - autotune_step_start_time >= AUTOTUNE_REQUIRED_LEVEL_TIME_MS) {
|
|
// initiate variables for next step
|
|
autotune_state.step = AUTOTUNE_STEP_TWITCHING;
|
|
autotune_step_start_time = millis();
|
|
autotune_step_stop_time = autotune_step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS;
|
|
autotune_test_max = 0.0f;
|
|
autotune_test_min = 0.0f;
|
|
rotation_rate_filt.reset(0.0f);
|
|
rate_max = 0.0f;
|
|
// set gains to their to-be-tested values
|
|
autotune_load_twitch_gains();
|
|
}
|
|
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_target_rate = constrain_float(ToDeg(attitude_control.max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
|
|
autotune_target_angle = constrain_float(ToDeg(attitude_control.max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
|
|
autotune_start_rate = ToDeg(ahrs.get_gyro().x) * 100.0f;
|
|
autotune_start_angle = ahrs.roll_sensor;
|
|
rotation_rate_filt.set_cutoff_frequency(attitude_control.get_rate_roll_pid().filt_hz()*2.0f);
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate_filt.reset(autotune_start_rate);
|
|
} else {
|
|
rotation_rate_filt.reset(0);
|
|
}
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_target_rate = constrain_float(ToDeg(attitude_control.max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
|
|
autotune_target_angle = constrain_float(ToDeg(attitude_control.max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD);
|
|
autotune_start_rate = ToDeg(ahrs.get_gyro().y) * 100.0f;
|
|
autotune_start_angle = ahrs.pitch_sensor;
|
|
rotation_rate_filt.set_cutoff_frequency(attitude_control.get_rate_pitch_pid().filt_hz()*2.0f);
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate_filt.reset(autotune_start_rate);
|
|
} else {
|
|
rotation_rate_filt.reset(0);
|
|
}
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_target_rate = constrain_float(ToDeg(attitude_control.max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, AUTOTUNE_TARGET_RATE_YAW_CDS);
|
|
autotune_target_angle = constrain_float(ToDeg(attitude_control.max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD);
|
|
autotune_start_rate = ToDeg(ahrs.get_gyro().z) * 100.0f;
|
|
autotune_start_angle = ahrs.yaw_sensor;
|
|
rotation_rate_filt.set_cutoff_frequency(AUTOTUNE_Y_FILT_FREQ);
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate_filt.reset(autotune_start_rate);
|
|
} else {
|
|
rotation_rate_filt.reset(0);
|
|
}
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case AUTOTUNE_STEP_TWITCHING:
|
|
// Run the twitching step
|
|
// Note: we should be using intra-test gains (which are very close to the original gains but have lower I)
|
|
|
|
// disable rate limits
|
|
attitude_control.use_ff_and_input_shaping(false);
|
|
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
// Testing increasing stabilize P gain so will set lean angle target
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
// request roll to 20deg
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw( direction_sign * autotune_target_angle + autotune_start_angle, 0.0f, 0.0f, get_smoothing_gain());
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
// request pitch to 20deg
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw( 0.0f, direction_sign * autotune_target_angle + autotune_start_angle, 0.0f, get_smoothing_gain());
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
// request pitch to 20deg
|
|
attitude_control.input_euler_angle_roll_pitch_yaw( 0.0f, 0.0f, wrap_180_cd(direction_sign * autotune_target_angle + autotune_start_angle), false, get_smoothing_gain());
|
|
break;
|
|
}
|
|
} else {
|
|
// Testing rate P and D gains so will set body-frame rate targets.
|
|
// Rate controller will use existing body-frame rates and convert to motor outputs
|
|
// for all axes except the one we override here.
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw( 0.0f, 0.0f, 0.0f, get_smoothing_gain());
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
// override body-frame roll rate
|
|
attitude_control.rate_bf_roll_target(direction_sign * autotune_target_rate + autotune_start_rate);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
// override body-frame pitch rate
|
|
attitude_control.rate_bf_pitch_target(direction_sign * autotune_target_rate + autotune_start_rate);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
// override body-frame yaw rate
|
|
attitude_control.rate_bf_yaw_target(direction_sign * autotune_target_rate + autotune_start_rate);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// capture this iterations rotation rate and lean angle
|
|
// Add filter to measurements
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().x) * 100.0f), MAIN_LOOP_SECONDS);
|
|
} else {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().x) * 100.0f - autotune_start_rate), MAIN_LOOP_SECONDS);
|
|
}
|
|
lean_angle = direction_sign * (ahrs.roll_sensor - (int32_t)autotune_start_angle);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().y) * 100.0f), MAIN_LOOP_SECONDS);
|
|
} else {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().y) * 100.0f - autotune_start_rate), MAIN_LOOP_SECONDS);
|
|
}
|
|
lean_angle = direction_sign * (ahrs.pitch_sensor - (int32_t)autotune_start_angle);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().z) * 100.0f), MAIN_LOOP_SECONDS);
|
|
} else {
|
|
rotation_rate = rotation_rate_filt.apply(direction_sign * (ToDeg(ahrs.get_gyro().z) * 100.0f - autotune_start_rate), MAIN_LOOP_SECONDS);
|
|
}
|
|
lean_angle = direction_sign * wrap_180_cd(ahrs.yaw_sensor-(int32_t)autotune_start_angle);
|
|
break;
|
|
}
|
|
|
|
switch (autotune_state.tune_type) {
|
|
case AUTOTUNE_TYPE_RD_UP:
|
|
case AUTOTUNE_TYPE_RD_DOWN:
|
|
autotune_twitching_test(rotation_rate, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
autotune_twitching_measure_acceleration(autotune_test_accel_max, rotation_rate, rate_max);
|
|
if (lean_angle >= autotune_target_angle) {
|
|
autotune_state.step = AUTOTUNE_STEP_UPDATE_GAINS;
|
|
}
|
|
break;
|
|
case AUTOTUNE_TYPE_RP_UP:
|
|
autotune_twitching_test(rotation_rate, autotune_target_rate*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
|
|
autotune_twitching_measure_acceleration(autotune_test_accel_max, rotation_rate, rate_max);
|
|
if (lean_angle >= autotune_target_angle) {
|
|
autotune_state.step = AUTOTUNE_STEP_UPDATE_GAINS;
|
|
}
|
|
break;
|
|
case AUTOTUNE_TYPE_SP_DOWN:
|
|
case AUTOTUNE_TYPE_SP_UP:
|
|
autotune_twitching_test(lean_angle, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
|
|
autotune_twitching_measure_acceleration(autotune_test_accel_max, rotation_rate - direction_sign * autotune_start_rate, rate_max);
|
|
break;
|
|
}
|
|
|
|
// log this iterations lean angle and rotation rate
|
|
Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
|
|
DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
|
|
break;
|
|
|
|
case AUTOTUNE_STEP_UPDATE_GAINS:
|
|
|
|
// re-enable rate limits
|
|
attitude_control.use_ff_and_input_shaping(true);
|
|
|
|
// log the latest gains
|
|
if ((autotune_state.tune_type == AUTOTUNE_TYPE_SP_DOWN) || (autotune_state.tune_type == AUTOTUNE_TYPE_SP_UP)) {
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp, autotune_test_accel_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, autotune_test_accel_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_angle, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, autotune_test_accel_max);
|
|
break;
|
|
}
|
|
} else {
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_roll_rp, tune_roll_rd, tune_roll_sp, autotune_test_accel_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, autotune_test_accel_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
Log_Write_AutoTune(autotune_state.axis, autotune_state.tune_type, autotune_target_rate, autotune_test_min, autotune_test_max, tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, autotune_test_accel_max);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Check results after mini-step to increase rate D gain
|
|
switch (autotune_state.tune_type) {
|
|
case AUTOTUNE_TYPE_RD_UP:
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_updating_d_up(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_updating_d_up(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_updating_d_up(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RLPF_MAX, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
}
|
|
break;
|
|
// Check results after mini-step to decrease rate D gain
|
|
case AUTOTUNE_TYPE_RD_DOWN:
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_updating_d_down(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_updating_d_down(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_updating_d_down(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
}
|
|
break;
|
|
// Check results after mini-step to increase rate P gain
|
|
case AUTOTUNE_TYPE_RP_UP:
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_updating_p_up_d_down(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_updating_p_up_d_down(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_updating_p_up_d_down(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
|
|
break;
|
|
}
|
|
break;
|
|
// Check results after mini-step to increase stabilize P gain
|
|
case AUTOTUNE_TYPE_SP_DOWN:
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_updating_p_down(tune_roll_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_updating_p_down(tune_pitch_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_updating_p_down(tune_yaw_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
}
|
|
break;
|
|
// Check results after mini-step to increase stabilize P gain
|
|
case AUTOTUNE_TYPE_SP_UP:
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
autotune_updating_p_up(tune_roll_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
autotune_updating_p_up(tune_pitch_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
autotune_updating_p_up(tune_yaw_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
|
|
// we've complete this step, finalize pids and move to next step
|
|
if (autotune_counter >= AUTOTUNE_SUCCESS_COUNT) {
|
|
|
|
// reset counter
|
|
autotune_counter = 0;
|
|
|
|
// move to the next tuning type
|
|
switch (autotune_state.tune_type) {
|
|
case AUTOTUNE_TYPE_RD_UP:
|
|
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
|
|
break;
|
|
case AUTOTUNE_TYPE_RD_DOWN:
|
|
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
tune_roll_rd = MAX(g.autotune_min_d, tune_roll_rd * AUTOTUNE_RD_BACKOFF);
|
|
tune_roll_rp = MAX(AUTOTUNE_RP_MIN, tune_roll_rp * AUTOTUNE_RD_BACKOFF);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
tune_pitch_rd = MAX(g.autotune_min_d, tune_pitch_rd * AUTOTUNE_RD_BACKOFF);
|
|
tune_pitch_rp = MAX(AUTOTUNE_RP_MIN, tune_pitch_rp * AUTOTUNE_RD_BACKOFF);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
tune_yaw_rLPF = MAX(AUTOTUNE_RLPF_MIN, tune_yaw_rLPF * AUTOTUNE_RD_BACKOFF);
|
|
tune_yaw_rp = MAX(AUTOTUNE_RP_MIN, tune_yaw_rp * AUTOTUNE_RD_BACKOFF);
|
|
break;
|
|
}
|
|
break;
|
|
case AUTOTUNE_TYPE_RP_UP:
|
|
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
tune_roll_rp = MAX(AUTOTUNE_RP_MIN, tune_roll_rp * AUTOTUNE_RP_BACKOFF);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
tune_pitch_rp = MAX(AUTOTUNE_RP_MIN, tune_pitch_rp * AUTOTUNE_RP_BACKOFF);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
tune_yaw_rp = MAX(AUTOTUNE_RP_MIN, tune_yaw_rp * AUTOTUNE_RP_BACKOFF);
|
|
break;
|
|
}
|
|
break;
|
|
case AUTOTUNE_TYPE_SP_DOWN:
|
|
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
|
|
break;
|
|
case AUTOTUNE_TYPE_SP_UP:
|
|
// we've reached the end of a D-up-down PI-up-down tune type cycle
|
|
autotune_state.tune_type = AUTOTUNE_TYPE_RD_UP;
|
|
|
|
// advance to the next axis
|
|
bool autotune_complete = false;
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
tune_roll_sp = MAX(AUTOTUNE_SP_MIN, tune_roll_sp * AUTOTUNE_SP_BACKOFF);
|
|
tune_roll_accel = MAX(AUTOTUNE_RP_ACCEL_MIN, autotune_test_accel_max * AUTOTUNE_ACCEL_RP_BACKOFF);
|
|
if (autotune_pitch_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_PITCH;
|
|
} else if (autotune_yaw_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_YAW;
|
|
} else {
|
|
autotune_complete = true;
|
|
}
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
tune_pitch_sp = MAX(AUTOTUNE_SP_MIN, tune_pitch_sp * AUTOTUNE_SP_BACKOFF);
|
|
tune_pitch_accel = MAX(AUTOTUNE_RP_ACCEL_MIN, autotune_test_accel_max * AUTOTUNE_ACCEL_RP_BACKOFF);
|
|
if (autotune_yaw_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_YAW;
|
|
} else {
|
|
autotune_complete = true;
|
|
}
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
tune_yaw_sp = MAX(AUTOTUNE_SP_MIN, tune_yaw_sp * AUTOTUNE_SP_BACKOFF);
|
|
tune_yaw_accel = MAX(AUTOTUNE_Y_ACCEL_MIN, autotune_test_accel_max * AUTOTUNE_ACCEL_Y_BACKOFF);
|
|
autotune_complete = true;
|
|
break;
|
|
}
|
|
|
|
// if we've just completed all axes we have successfully completed the autotune
|
|
// change to TESTING mode to allow user to fly with new gains
|
|
if (autotune_complete) {
|
|
autotune_state.mode = AUTOTUNE_MODE_SUCCESS;
|
|
autotune_update_gcs(AUTOTUNE_MESSAGE_SUCCESS);
|
|
Log_Write_Event(DATA_AUTOTUNE_SUCCESS);
|
|
AP_Notify::events.autotune_complete = 1;
|
|
} else {
|
|
AP_Notify::events.autotune_next_axis = 1;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
// reverse direction
|
|
autotune_state.positive_direction = !autotune_state.positive_direction;
|
|
|
|
if (autotune_state.axis == AUTOTUNE_AXIS_YAW) {
|
|
attitude_control.input_euler_angle_roll_pitch_yaw( 0.0f, 0.0f, ahrs.yaw_sensor, false, get_smoothing_gain());
|
|
}
|
|
|
|
// set gains to their intra-test values (which are very close to the original gains)
|
|
autotune_load_intra_test_gains();
|
|
|
|
// reset testing step
|
|
autotune_state.step = AUTOTUNE_STEP_WAITING_FOR_LEVEL;
|
|
autotune_step_start_time = millis();
|
|
break;
|
|
}
|
|
}
|
|
|
|
// autotune_backup_gains_and_initialise - store current gains as originals
|
|
// called before tuning starts to backup original gains
|
|
void Copter::autotune_backup_gains_and_initialise()
|
|
{
|
|
// initialise state because this is our first time
|
|
if (autotune_roll_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_ROLL;
|
|
} else if (autotune_pitch_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_PITCH;
|
|
} else if (autotune_yaw_enabled()) {
|
|
autotune_state.axis = AUTOTUNE_AXIS_YAW;
|
|
}
|
|
autotune_state.positive_direction = false;
|
|
autotune_state.step = AUTOTUNE_STEP_WAITING_FOR_LEVEL;
|
|
autotune_step_start_time = millis();
|
|
autotune_state.tune_type = AUTOTUNE_TYPE_RD_UP;
|
|
|
|
autotune_desired_yaw = ahrs.yaw_sensor;
|
|
|
|
g.autotune_aggressiveness = constrain_float(g.autotune_aggressiveness, 0.05f, 0.2f);
|
|
|
|
orig_bf_feedforward = attitude_control.get_bf_feedforward();
|
|
|
|
// backup original pids and initialise tuned pid values
|
|
orig_roll_rp = attitude_control.get_rate_roll_pid().kP();
|
|
orig_roll_ri = attitude_control.get_rate_roll_pid().kI();
|
|
orig_roll_rd = attitude_control.get_rate_roll_pid().kD();
|
|
orig_roll_sp = attitude_control.get_angle_roll_p().kP();
|
|
orig_roll_accel = attitude_control.get_accel_roll_max();
|
|
tune_roll_rp = attitude_control.get_rate_roll_pid().kP();
|
|
tune_roll_rd = attitude_control.get_rate_roll_pid().kD();
|
|
tune_roll_sp = attitude_control.get_angle_roll_p().kP();
|
|
tune_roll_accel = attitude_control.get_accel_roll_max();
|
|
|
|
orig_pitch_rp = attitude_control.get_rate_pitch_pid().kP();
|
|
orig_pitch_ri = attitude_control.get_rate_pitch_pid().kI();
|
|
orig_pitch_rd = attitude_control.get_rate_pitch_pid().kD();
|
|
orig_pitch_sp = attitude_control.get_angle_pitch_p().kP();
|
|
orig_pitch_accel = attitude_control.get_accel_pitch_max();
|
|
tune_pitch_rp = attitude_control.get_rate_pitch_pid().kP();
|
|
tune_pitch_rd = attitude_control.get_rate_pitch_pid().kD();
|
|
tune_pitch_sp = attitude_control.get_angle_pitch_p().kP();
|
|
tune_pitch_accel = attitude_control.get_accel_pitch_max();
|
|
|
|
orig_yaw_rp = attitude_control.get_rate_yaw_pid().kP();
|
|
orig_yaw_ri = attitude_control.get_rate_yaw_pid().kI();
|
|
orig_yaw_rd = attitude_control.get_rate_yaw_pid().kD();
|
|
orig_yaw_rLPF = attitude_control.get_rate_yaw_pid().filt_hz();
|
|
orig_yaw_accel = attitude_control.get_accel_yaw_max();
|
|
orig_yaw_sp = attitude_control.get_angle_yaw_p().kP();
|
|
tune_yaw_rp = attitude_control.get_rate_yaw_pid().kP();
|
|
tune_yaw_rLPF = attitude_control.get_rate_yaw_pid().filt_hz();
|
|
tune_yaw_sp = attitude_control.get_angle_yaw_p().kP();
|
|
tune_yaw_accel = attitude_control.get_accel_yaw_max();
|
|
|
|
Log_Write_Event(DATA_AUTOTUNE_INITIALISED);
|
|
}
|
|
|
|
// autotune_load_orig_gains - set gains to their original values
|
|
// called by autotune_stop and autotune_failed functions
|
|
void Copter::autotune_load_orig_gains()
|
|
{
|
|
attitude_control.bf_feedforward(orig_bf_feedforward);
|
|
if (autotune_roll_enabled()) {
|
|
if (!is_zero(orig_roll_rp)) {
|
|
attitude_control.get_rate_roll_pid().kP(orig_roll_rp);
|
|
attitude_control.get_rate_roll_pid().kI(orig_roll_ri);
|
|
attitude_control.get_rate_roll_pid().kD(orig_roll_rd);
|
|
attitude_control.get_angle_roll_p().kP(orig_roll_sp);
|
|
attitude_control.set_accel_roll_max(orig_roll_accel);
|
|
}
|
|
}
|
|
if (autotune_pitch_enabled()) {
|
|
if (!is_zero(orig_pitch_rp)) {
|
|
attitude_control.get_rate_pitch_pid().kP(orig_pitch_rp);
|
|
attitude_control.get_rate_pitch_pid().kI(orig_pitch_ri);
|
|
attitude_control.get_rate_pitch_pid().kD(orig_pitch_rd);
|
|
attitude_control.get_angle_pitch_p().kP(orig_pitch_sp);
|
|
attitude_control.set_accel_pitch_max(orig_pitch_accel);
|
|
}
|
|
}
|
|
if (autotune_yaw_enabled()) {
|
|
if (!is_zero(orig_yaw_rp)) {
|
|
attitude_control.get_rate_yaw_pid().kP(orig_yaw_rp);
|
|
attitude_control.get_rate_yaw_pid().kI(orig_yaw_ri);
|
|
attitude_control.get_rate_yaw_pid().kD(orig_yaw_rd);
|
|
attitude_control.get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
|
|
attitude_control.get_angle_yaw_p().kP(orig_yaw_sp);
|
|
attitude_control.set_accel_yaw_max(orig_yaw_accel);
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_load_tuned_gains - load tuned gains
|
|
void Copter::autotune_load_tuned_gains()
|
|
{
|
|
if (!attitude_control.get_bf_feedforward()) {
|
|
attitude_control.bf_feedforward(true);
|
|
attitude_control.set_accel_roll_max(0.0f);
|
|
attitude_control.set_accel_pitch_max(0.0f);
|
|
}
|
|
if (autotune_roll_enabled()) {
|
|
if (!is_zero(tune_roll_rp)) {
|
|
attitude_control.get_rate_roll_pid().kP(tune_roll_rp);
|
|
attitude_control.get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_roll_pid().kD(tune_roll_rd);
|
|
attitude_control.get_angle_roll_p().kP(tune_roll_sp);
|
|
attitude_control.set_accel_roll_max(tune_roll_accel);
|
|
}
|
|
}
|
|
if (autotune_pitch_enabled()) {
|
|
if (!is_zero(tune_pitch_rp)) {
|
|
attitude_control.get_rate_pitch_pid().kP(tune_pitch_rp);
|
|
attitude_control.get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_pitch_pid().kD(tune_pitch_rd);
|
|
attitude_control.get_angle_pitch_p().kP(tune_pitch_sp);
|
|
attitude_control.set_accel_pitch_max(tune_pitch_accel);
|
|
}
|
|
}
|
|
if (autotune_yaw_enabled()) {
|
|
if (!is_zero(tune_yaw_rp)) {
|
|
attitude_control.get_rate_yaw_pid().kP(tune_yaw_rp);
|
|
attitude_control.get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_yaw_pid().kD(0.0f);
|
|
attitude_control.get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
|
|
attitude_control.get_angle_yaw_p().kP(tune_yaw_sp);
|
|
attitude_control.set_accel_yaw_max(tune_yaw_accel);
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_load_intra_test_gains - gains used between tests
|
|
// called during testing mode's update-gains step to set gains ahead of return-to-level step
|
|
void Copter::autotune_load_intra_test_gains()
|
|
{
|
|
// we are restarting tuning so reset gains to tuning-start gains (i.e. low I term)
|
|
// sanity check the gains
|
|
attitude_control.bf_feedforward(true);
|
|
if (autotune_roll_enabled()) {
|
|
attitude_control.get_rate_roll_pid().kP(orig_roll_rp);
|
|
attitude_control.get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
|
|
attitude_control.get_rate_roll_pid().kD(orig_roll_rd);
|
|
attitude_control.get_angle_roll_p().kP(orig_roll_sp);
|
|
}
|
|
if (autotune_pitch_enabled()) {
|
|
attitude_control.get_rate_pitch_pid().kP(orig_pitch_rp);
|
|
attitude_control.get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
|
|
attitude_control.get_rate_pitch_pid().kD(orig_pitch_rd);
|
|
attitude_control.get_angle_pitch_p().kP(orig_pitch_sp);
|
|
}
|
|
if (autotune_yaw_enabled()) {
|
|
attitude_control.get_rate_yaw_pid().kP(orig_yaw_rp);
|
|
attitude_control.get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
|
|
attitude_control.get_rate_yaw_pid().kD(orig_yaw_rd);
|
|
attitude_control.get_rate_yaw_pid().filt_hz(orig_yaw_rLPF);
|
|
attitude_control.get_angle_yaw_p().kP(orig_yaw_sp);
|
|
}
|
|
}
|
|
|
|
// autotune_load_twitch_gains - load the to-be-tested gains for a single axis
|
|
// called by autotune_attitude_control() just before it beings testing a gain (i.e. just before it twitches)
|
|
void Copter::autotune_load_twitch_gains()
|
|
{
|
|
switch (autotune_state.axis) {
|
|
case AUTOTUNE_AXIS_ROLL:
|
|
attitude_control.get_rate_roll_pid().kP(tune_roll_rp);
|
|
attitude_control.get_rate_roll_pid().kI(tune_roll_rp*0.01f);
|
|
attitude_control.get_rate_roll_pid().kD(tune_roll_rd);
|
|
attitude_control.get_angle_roll_p().kP(tune_roll_sp);
|
|
break;
|
|
case AUTOTUNE_AXIS_PITCH:
|
|
attitude_control.get_rate_pitch_pid().kP(tune_pitch_rp);
|
|
attitude_control.get_rate_pitch_pid().kI(tune_pitch_rp*0.01f);
|
|
attitude_control.get_rate_pitch_pid().kD(tune_pitch_rd);
|
|
attitude_control.get_angle_pitch_p().kP(tune_pitch_sp);
|
|
break;
|
|
case AUTOTUNE_AXIS_YAW:
|
|
attitude_control.get_rate_yaw_pid().kP(tune_yaw_rp);
|
|
attitude_control.get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
|
|
attitude_control.get_rate_yaw_pid().kD(0.0f);
|
|
attitude_control.get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
|
|
attitude_control.get_angle_yaw_p().kP(tune_yaw_sp);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// autotune_save_tuning_gains - save the final tuned gains for each axis
|
|
// save discovered gains to eeprom if autotuner is enabled (i.e. switch is in the high position)
|
|
void Copter::autotune_save_tuning_gains()
|
|
{
|
|
// if we successfully completed tuning
|
|
if (autotune_state.mode == AUTOTUNE_MODE_SUCCESS) {
|
|
|
|
if (!attitude_control.get_bf_feedforward()) {
|
|
attitude_control.bf_feedforward_save(true);
|
|
attitude_control.save_accel_roll_max(0.0f);
|
|
attitude_control.save_accel_pitch_max(0.0f);
|
|
}
|
|
|
|
// sanity check the rate P values
|
|
if (autotune_roll_enabled() && !is_zero(tune_roll_rp)) {
|
|
// rate roll gains
|
|
attitude_control.get_rate_roll_pid().kP(tune_roll_rp);
|
|
attitude_control.get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_roll_pid().kD(tune_roll_rd);
|
|
attitude_control.get_rate_roll_pid().save_gains();
|
|
|
|
// stabilize roll
|
|
attitude_control.get_angle_roll_p().kP(tune_roll_sp);
|
|
attitude_control.get_angle_roll_p().save_gains();
|
|
|
|
// acceleration roll
|
|
attitude_control.save_accel_roll_max(tune_roll_accel);
|
|
|
|
// resave pids to originals in case the autotune is run again
|
|
orig_roll_rp = attitude_control.get_rate_roll_pid().kP();
|
|
orig_roll_ri = attitude_control.get_rate_roll_pid().kI();
|
|
orig_roll_rd = attitude_control.get_rate_roll_pid().kD();
|
|
orig_roll_sp = attitude_control.get_angle_roll_p().kP();
|
|
}
|
|
|
|
if (autotune_pitch_enabled() && !is_zero(tune_pitch_rp)) {
|
|
// rate pitch gains
|
|
attitude_control.get_rate_pitch_pid().kP(tune_pitch_rp);
|
|
attitude_control.get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_pitch_pid().kD(tune_pitch_rd);
|
|
attitude_control.get_rate_pitch_pid().save_gains();
|
|
|
|
// stabilize pitch
|
|
attitude_control.get_angle_pitch_p().kP(tune_pitch_sp);
|
|
attitude_control.get_angle_pitch_p().save_gains();
|
|
|
|
// acceleration pitch
|
|
attitude_control.save_accel_pitch_max(tune_pitch_accel);
|
|
|
|
// resave pids to originals in case the autotune is run again
|
|
orig_pitch_rp = attitude_control.get_rate_pitch_pid().kP();
|
|
orig_pitch_ri = attitude_control.get_rate_pitch_pid().kI();
|
|
orig_pitch_rd = attitude_control.get_rate_pitch_pid().kD();
|
|
orig_pitch_sp = attitude_control.get_angle_pitch_p().kP();
|
|
}
|
|
|
|
if (autotune_yaw_enabled() && !is_zero(tune_yaw_rp)) {
|
|
// rate yaw gains
|
|
attitude_control.get_rate_yaw_pid().kP(tune_yaw_rp);
|
|
attitude_control.get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
|
|
attitude_control.get_rate_yaw_pid().kD(0.0f);
|
|
attitude_control.get_rate_yaw_pid().filt_hz(tune_yaw_rLPF);
|
|
attitude_control.get_rate_yaw_pid().save_gains();
|
|
|
|
// stabilize yaw
|
|
attitude_control.get_angle_yaw_p().kP(tune_yaw_sp);
|
|
attitude_control.get_angle_yaw_p().save_gains();
|
|
|
|
// acceleration yaw
|
|
attitude_control.save_accel_yaw_max(tune_yaw_accel);
|
|
|
|
// resave pids to originals in case the autotune is run again
|
|
orig_yaw_rp = attitude_control.get_rate_yaw_pid().kP();
|
|
orig_yaw_ri = attitude_control.get_rate_yaw_pid().kI();
|
|
orig_yaw_rd = attitude_control.get_rate_yaw_pid().kD();
|
|
orig_yaw_rLPF = attitude_control.get_rate_yaw_pid().filt_hz();
|
|
orig_yaw_sp = attitude_control.get_angle_yaw_p().kP();
|
|
}
|
|
// update GCS and log save gains event
|
|
autotune_update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
|
|
Log_Write_Event(DATA_AUTOTUNE_SAVEDGAINS);
|
|
// reset Autotune so that gains are not saved again and autotune can be run again.
|
|
autotune_state.mode = AUTOTUNE_MODE_UNINITIALISED;
|
|
}
|
|
}
|
|
|
|
// autotune_update_gcs - send message to ground station
|
|
void Copter::autotune_update_gcs(uint8_t message_id)
|
|
{
|
|
switch (message_id) {
|
|
case AUTOTUNE_MESSAGE_STARTED:
|
|
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Started");
|
|
break;
|
|
case AUTOTUNE_MESSAGE_STOPPED:
|
|
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Stopped");
|
|
break;
|
|
case AUTOTUNE_MESSAGE_SUCCESS:
|
|
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Success");
|
|
break;
|
|
case AUTOTUNE_MESSAGE_FAILED:
|
|
gcs_send_text(MAV_SEVERITY_NOTICE,"AutoTune: Failed");
|
|
break;
|
|
case AUTOTUNE_MESSAGE_SAVED_GAINS:
|
|
gcs_send_text(MAV_SEVERITY_INFO,"AutoTune: Saved gains");
|
|
break;
|
|
}
|
|
}
|
|
|
|
// axis helper functions
|
|
inline bool Copter::autotune_roll_enabled() {
|
|
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_ROLL;
|
|
}
|
|
|
|
inline bool Copter::autotune_pitch_enabled() {
|
|
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_PITCH;
|
|
}
|
|
|
|
inline bool Copter::autotune_yaw_enabled() {
|
|
return g.autotune_axis_bitmask & AUTOTUNE_AXIS_BITMASK_YAW;
|
|
}
|
|
|
|
// autotune_twitching_test - twitching tests
|
|
// update min and max and test for end conditions
|
|
void Copter::autotune_twitching_test(float measurement, float target, float &measurement_min, float &measurement_max)
|
|
{
|
|
// capture maximum measurement
|
|
if (measurement > measurement_max) {
|
|
// the measurement is continuing to increase without stopping
|
|
measurement_max = measurement;
|
|
measurement_min = measurement;
|
|
}
|
|
|
|
// capture minimum measurement after the measurement has peaked (aka "bounce back")
|
|
if ((measurement < measurement_min) && (measurement_max > target * 0.5f)) {
|
|
// the measurement is bouncing back
|
|
measurement_min = measurement;
|
|
}
|
|
|
|
// calculate early stopping time based on the time it takes to get to 90%
|
|
if (measurement_max < target * 0.75f) {
|
|
// the measurement not reached the 90% threshold yet
|
|
autotune_step_stop_time = autotune_step_start_time + (millis() - autotune_step_start_time) * 3.0f;
|
|
autotune_step_stop_time = MIN(autotune_step_stop_time, autotune_step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
|
|
}
|
|
|
|
if (measurement_max > target) {
|
|
// the measurement has passed the target
|
|
autotune_state.step = AUTOTUNE_STEP_UPDATE_GAINS;
|
|
}
|
|
|
|
if (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) {
|
|
// the measurement has passed 50% of the target and bounce back is larger than the threshold
|
|
autotune_state.step = AUTOTUNE_STEP_UPDATE_GAINS;
|
|
}
|
|
|
|
if (millis() >= autotune_step_stop_time) {
|
|
// we have passed the maximum stop time
|
|
autotune_state.step = AUTOTUNE_STEP_UPDATE_GAINS;
|
|
}
|
|
}
|
|
|
|
// autotune_updating_d_up - increase D and adjust P to optimize the D term for a little bounce back
|
|
// optimize D term while keeping the maximum just below the target by adjusting P
|
|
void Copter::autotune_updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
|
|
{
|
|
if (measurement_max > target) {
|
|
// if maximum measurement was higher than target
|
|
// reduce P gain (which should reduce maximum)
|
|
tune_p -= tune_p*tune_p_step_ratio;
|
|
if (tune_p < tune_p_min) {
|
|
// P gain is at minimum so start reducing D
|
|
tune_p = tune_p_min;
|
|
tune_d -= tune_d*tune_d_step_ratio;
|
|
if (tune_d <= tune_d_min) {
|
|
// We have reached minimum D gain so stop tuning
|
|
tune_d = tune_d_min;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}
|
|
}else if ((measurement_max < target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
|
|
// we have not achieved a high enough maximum to get a good measurement of bounce back.
|
|
// increase P gain (which should increase maximum)
|
|
tune_p += tune_p*tune_p_step_ratio;
|
|
if (tune_p >= tune_p_max) {
|
|
tune_p = tune_p_max;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}else{
|
|
// we have a good measurement of bounce back
|
|
if (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) {
|
|
// ignore the next result unless it is the same as this one
|
|
autotune_state.ignore_next = 1;
|
|
// bounce back is bigger than our threshold so increment the success counter
|
|
autotune_counter++;
|
|
}else{
|
|
if (autotune_state.ignore_next == 0){
|
|
// bounce back is smaller than our threshold so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// increase D gain (which should increase bounce back)
|
|
tune_d += tune_d*tune_d_step_ratio*2.0f;
|
|
// stop tuning if we hit maximum D
|
|
if (tune_d >= tune_d_max) {
|
|
tune_d = tune_d_max;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
} else {
|
|
autotune_state.ignore_next = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_updating_d_down - decrease D and adjust P to optimize the D term for no bounce back
|
|
// optimize D term while keeping the maximum just below the target by adjusting P
|
|
void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
|
|
{
|
|
if (measurement_max > target) {
|
|
// if maximum measurement was higher than target
|
|
// reduce P gain (which should reduce maximum)
|
|
tune_p -= tune_p*tune_p_step_ratio;
|
|
if (tune_p < tune_p_min) {
|
|
// P gain is at minimum so start reducing D gain
|
|
tune_p = tune_p_min;
|
|
tune_d -= tune_d*tune_d_step_ratio;
|
|
if (tune_d <= tune_d_min) {
|
|
// We have reached minimum D so stop tuning
|
|
tune_d = tune_d_min;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}
|
|
}else if ((measurement_max < target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
|
|
// we have not achieved a high enough maximum to get a good measurement of bounce back.
|
|
// increase P gain (which should increase maximum)
|
|
tune_p += tune_p*tune_p_step_ratio;
|
|
if (tune_p >= tune_p_max) {
|
|
tune_p = tune_p_max;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}else{
|
|
// we have a good measurement of bounce back
|
|
if (measurement_max-measurement_min < measurement_max*g.autotune_aggressiveness) {
|
|
if (autotune_state.ignore_next == 0){
|
|
// bounce back is less than our threshold so increment the success counter
|
|
autotune_counter++;
|
|
} else {
|
|
autotune_state.ignore_next = 0;
|
|
}
|
|
}else{
|
|
// ignore the next result unless it is the same as this one
|
|
autotune_state.ignore_next = 1;
|
|
// bounce back is larger than our threshold so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// decrease D gain (which should decrease bounce back)
|
|
tune_d -= tune_d*tune_d_step_ratio;
|
|
// stop tuning if we hit minimum D
|
|
if (tune_d <= tune_d_min) {
|
|
tune_d = tune_d_min;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_updating_p_down - decrease P until we don't reach the target before time out
|
|
// P is decreased to ensure we are not overshooting the target
|
|
void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max)
|
|
{
|
|
if (measurement_max < target*(1+0.5f*g.autotune_aggressiveness)) {
|
|
if (autotune_state.ignore_next == 0){
|
|
// if maximum measurement was lower than target so increment the success counter
|
|
autotune_counter++;
|
|
} else {
|
|
autotune_state.ignore_next = 0;
|
|
}
|
|
}else{
|
|
// ignore the next result unless it is the same as this one
|
|
autotune_state.ignore_next = 1;
|
|
// if maximum measurement was higher than target so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// decrease P gain (which should decrease the maximum)
|
|
tune_p -= tune_p*tune_p_step_ratio;
|
|
// stop tuning if we hit maximum P
|
|
if (tune_p <= tune_p_min) {
|
|
tune_p = tune_p_min;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_updating_p_up - increase P to ensure the target is reached
|
|
// P is increased until we achieve our target within a reasonable time
|
|
void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max)
|
|
{
|
|
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
|
|
// ignore the next result unless it is the same as this one
|
|
autotune_state.ignore_next = 1;
|
|
// if maximum measurement was greater than target so increment the success counter
|
|
autotune_counter++;
|
|
}else{
|
|
if (autotune_state.ignore_next == 0){
|
|
// if maximum measurement was lower than target so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// increase P gain (which should increase the maximum)
|
|
tune_p += tune_p*tune_p_step_ratio;
|
|
// stop tuning if we hit maximum P
|
|
if (tune_p >= tune_p_max) {
|
|
tune_p = tune_p_max;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
} else {
|
|
autotune_state.ignore_next = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_updating_p_up - increase P to ensure the target is reached while checking bounce back isn't increasing
|
|
// P is increased until we achieve our target within a reasonable time while reducing D if bounce back increases above the threshold
|
|
void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
|
|
{
|
|
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
|
|
// ignore the next result unless it is the same as this one
|
|
autotune_state.ignore_next = 1;
|
|
// if maximum measurement was greater than target so increment the success counter
|
|
autotune_counter++;
|
|
} else if ((measurement_max < target) && (measurement_max > target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) && (tune_d > tune_d_min)) {
|
|
// if bounce back was larger than the threshold so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// decrease D gain (which should decrease bounce back)
|
|
tune_d -= tune_d*tune_d_step_ratio;
|
|
// stop tuning if we hit minimum D
|
|
if (tune_d <= tune_d_min) {
|
|
tune_d = tune_d_min;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
// decrease P gain to match D gain reduction
|
|
tune_p -= tune_p*tune_p_step_ratio;
|
|
// stop tuning if we hit minimum P
|
|
if (tune_p <= tune_p_min) {
|
|
tune_p = tune_p_min;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
// cancel change in direction
|
|
autotune_state.positive_direction = !autotune_state.positive_direction;
|
|
}else{
|
|
if (autotune_state.ignore_next == 0){
|
|
// if maximum measurement was lower than target so decrement the success counter
|
|
if (autotune_counter > 0 ) {
|
|
autotune_counter--;
|
|
}
|
|
// increase P gain (which should increase the maximum)
|
|
tune_p += tune_p*tune_p_step_ratio;
|
|
// stop tuning if we hit maximum P
|
|
if (tune_p >= tune_p_max) {
|
|
tune_p = tune_p_max;
|
|
autotune_counter = AUTOTUNE_SUCCESS_COUNT;
|
|
Log_Write_Event(DATA_AUTOTUNE_REACHED_LIMIT);
|
|
}
|
|
} else {
|
|
autotune_state.ignore_next = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
// autotune_twitching_measure_acceleration - measure rate of change of measurement
|
|
void Copter::autotune_twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max)
|
|
{
|
|
if (rate_measurement_max < rate_measurement) {
|
|
rate_measurement_max = rate_measurement;
|
|
rate_of_change = (1000.0f*rate_measurement_max)/(millis() - autotune_step_start_time);
|
|
}
|
|
}
|
|
|
|
#endif // AUTOTUNE_ENABLED == ENABLED
|