mirror of https://github.com/ArduPilot/ardupilot
349 lines
9.9 KiB
C++
349 lines
9.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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The strategy for roll/pitch autotune is to give the user a AUTOTUNE
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flight mode which behaves just like FBWA, but does automatic
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tuning.
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While the user is flying in AUTOTUNE the gains are saved every 10
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seconds, but the saved gains are not the current gains, instead it
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saves the gains from 10s ago. When the user exits AUTOTUNE the
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gains are restored from 10s ago.
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This allows the user to fly as much as they want in AUTOTUNE mode,
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and if they are ever unhappy they just exit the mode. If they stay
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in AUTOTUNE for more than 10s then their gains will have changed.
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Using this approach users don't need any special switches, they
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just need to be able to enter and exit AUTOTUNE mode
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*/
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#include "AP_AutoTune.h"
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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extern const AP_HAL::HAL& hal;
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// time in milliseconds between autotune saves
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#define AUTOTUNE_SAVE_PERIOD 10000U
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// how much time we have to overshoot for to reduce gains
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#define AUTOTUNE_OVERSHOOT_TIME 100
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// how much time we have to undershoot for to increase gains
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#define AUTOTUNE_UNDERSHOOT_TIME 200
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// step size for increasing gains, percentage
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#define AUTOTUNE_INCREASE_STEP 5
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// step size for decreasing gains, percentage
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#define AUTOTUNE_DECREASE_STEP 8
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// min/max P gains
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#define AUTOTUNE_MAX_P 5.0f
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#define AUTOTUNE_MIN_P 0.3f
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// tau ranges
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#define AUTOTUNE_MAX_TAU 0.7f
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#define AUTOTUNE_MIN_TAU 0.2f
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#define AUTOTUNE_MIN_IMAX 2000
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#define AUTOTUNE_MAX_IMAX 4000
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// constructor
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AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
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const AP_Vehicle::FixedWing &parms,
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DataFlash_Class &_dataflash) :
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running(false),
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current(_gains),
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type(_type),
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aparm(parms),
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dataflash(_dataflash),
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saturated_surfaces(false)
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{}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <stdio.h>
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# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
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#else
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# define Debug(fmt, args ...)
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#endif
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/*
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auto-tuning table. This table gives the starting values for key
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tuning parameters based on a user chosen AUTOTUNE_LEVEL parameter
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from 1 to 10. Level 1 is a very soft tune. Level 10 is a very
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agressive tune.
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*/
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static const struct {
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float tau;
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float Dratio;
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float rmax;
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} tuning_table[] = {
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{ 0.70f, 0.050f, 20 }, // level 1
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{ 0.65f, 0.055f, 30 }, // level 2
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{ 0.60f, 0.060f, 40 }, // level 3
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{ 0.55f, 0.065f, 50 }, // level 4
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{ 0.50f, 0.070f, 60 }, // level 5
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{ 0.45f, 0.075f, 75 }, // level 6
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{ 0.40f, 0.080f, 90 }, // level 7
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{ 0.30f, 0.085f, 120 }, // level 8
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{ 0.20f, 0.090f, 160 }, // level 9
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{ 0.10f, 0.095f, 210 }, // level 10
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{ 0.05f, 0.100f, 300 }, // (yes, it goes to 11)
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};
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/*
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start an autotune session
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*/
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void AP_AutoTune::start(void)
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{
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running = true;
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state = DEMAND_UNSATURATED;
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uint32_t now = AP_HAL::millis();
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state_enter_ms = now;
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last_save_ms = now;
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last_save = current;
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restore = current;
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uint8_t level = aparm.autotune_level;
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if (level > ARRAY_SIZE(tuning_table)) {
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level = ARRAY_SIZE(tuning_table);
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}
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if (level < 1) {
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level = 1;
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}
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current.rmax.set(tuning_table[level-1].rmax);
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// D gain is scaled to a fixed ratio of P gain
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current.D.set(tuning_table[level-1].Dratio * current.P);
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current.tau.set(tuning_table[level-1].tau);
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current.imax = constrain_float(current.imax, AUTOTUNE_MIN_IMAX, AUTOTUNE_MAX_IMAX);
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// force a fixed ratio of I to D gain on the rate feedback path
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current.I = 0.5f * current.D / current.tau;
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next_save = current;
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Debug("START P -> %.3f\n", current.P.get());
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}
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/*
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called when we change state to see if we should change gains
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*/
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void AP_AutoTune::stop(void)
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{
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if (running) {
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running = false;
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save_gains(restore);
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}
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}
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/*
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one update cycle of the autotuner
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*/
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void AP_AutoTune::update(float desired_rate, float achieved_rate, float servo_out)
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{
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if (!running) {
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return;
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}
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check_save();
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// see what state we are in
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ATState new_state;
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float abs_desired_rate = fabsf(desired_rate);
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uint32_t now = AP_HAL::millis();
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if (fabsf(servo_out) >= 45) {
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// we have saturated the servo demand (not including
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// integrator), we cannot get any information that would allow
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// us to increase the gain
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saturated_surfaces = true;
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}
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if (abs_desired_rate < 0.8f * current.rmax) {
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// we are not demanding max rate
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new_state = DEMAND_UNSATURATED;
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} else if (fabsf(achieved_rate) > abs_desired_rate) {
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new_state = desired_rate > 0 ? DEMAND_OVER_POS : DEMAND_OVER_NEG;
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} else {
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new_state = desired_rate > 0 ? DEMAND_UNDER_POS : DEMAND_UNDER_NEG;
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}
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if (new_state != state) {
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check_state_exit(now - state_enter_ms);
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state = new_state;
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state_enter_ms = now;
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saturated_surfaces = false;
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}
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if (state != DEMAND_UNSATURATED) {
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write_log(servo_out, desired_rate, achieved_rate);
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}
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}
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/*
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called when we change state to see if we should change gains
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*/
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void AP_AutoTune::check_state_exit(uint32_t state_time_ms)
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{
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switch (state) {
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case DEMAND_UNSATURATED:
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break;
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case DEMAND_UNDER_POS:
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case DEMAND_UNDER_NEG:
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// we increase P if we have not saturated the surfaces during
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// this state, and we have
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if (state_time_ms >= AUTOTUNE_UNDERSHOOT_TIME && !saturated_surfaces) {
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current.P.set(current.P * (100+AUTOTUNE_INCREASE_STEP) * 0.01f);
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if (current.P > AUTOTUNE_MAX_P) {
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current.P = AUTOTUNE_MAX_P;
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}
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Debug("UNDER P -> %.3f\n", current.P.get());
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}
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current.D.set(tuning_table[aparm.autotune_level-1].Dratio * current.P);
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break;
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case DEMAND_OVER_POS:
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case DEMAND_OVER_NEG:
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if (state_time_ms >= AUTOTUNE_OVERSHOOT_TIME) {
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current.P.set(current.P * (100-AUTOTUNE_DECREASE_STEP) * 0.01f);
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if (current.P < AUTOTUNE_MIN_P) {
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current.P = AUTOTUNE_MIN_P;
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}
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Debug("OVER P -> %.3f\n", current.P.get());
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}
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current.D.set(tuning_table[aparm.autotune_level-1].Dratio * current.P);
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break;
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}
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}
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/*
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see if we should save new values
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*/
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void AP_AutoTune::check_save(void)
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{
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if (AP_HAL::millis() - last_save_ms < AUTOTUNE_SAVE_PERIOD) {
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return;
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}
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// save the next_save values, which are the autotune value from
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// the last save period. This means the pilot has
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// AUTOTUNE_SAVE_PERIOD milliseconds to decide they don't like the
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// gains and switch out of autotune
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ATGains tmp = current;
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save_gains(next_save);
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Debug("SAVE P -> %.3f\n", current.P.get());
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// restore our current gains
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current = tmp;
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// if the pilot exits autotune they get these saved values
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restore = next_save;
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// the next values to save will be the ones we are flying now
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next_save = current;
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last_save_ms = AP_HAL::millis();
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}
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/*
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log a parameter change from autotune
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*/
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void AP_AutoTune::log_param_change(float v, const char *suffix)
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{
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if (!dataflash.logging_started()) {
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return;
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}
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char key[AP_MAX_NAME_SIZE+1];
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if (type == AUTOTUNE_ROLL) {
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strncpy(key, "RLL2SRV_", 8);
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strncpy(&key[8], suffix, AP_MAX_NAME_SIZE-8);
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} else {
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strncpy(key, "PTCH2SRV_", 9);
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strncpy(&key[9], suffix, AP_MAX_NAME_SIZE-9);
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}
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key[AP_MAX_NAME_SIZE] = 0;
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dataflash.Log_Write_Parameter(key, v);
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}
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/*
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set a float and save a float if it has changed by more than
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0.1%. This reduces the number of insignificant EEPROM writes
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*/
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void AP_AutoTune::save_float_if_changed(AP_Float &v, float value, const char *suffix)
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{
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float old_value = v.get();
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v.set(value);
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if (value <= 0 || fabsf((value-old_value)/value) > 0.001f) {
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v.save();
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log_param_change(v.get(), suffix);
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}
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}
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/*
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set a int16 and save if changed
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*/
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void AP_AutoTune::save_int16_if_changed(AP_Int16 &v, int16_t value, const char *suffix)
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{
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int16_t old_value = v.get();
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v.set(value);
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if (old_value != v.get()) {
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v.save();
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log_param_change(v.get(), suffix);
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}
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}
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/*
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save a set of gains
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*/
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void AP_AutoTune::save_gains(const ATGains &v)
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{
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current = last_save;
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save_float_if_changed(current.tau, v.tau, "TCONST");
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save_float_if_changed(current.P, v.P, "P");
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save_float_if_changed(current.I, v.I, "I");
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save_float_if_changed(current.D, v.D, "D");
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save_int16_if_changed(current.rmax, v.rmax, "RMAX");
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save_int16_if_changed(current.imax, v.imax, "IMAX");
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last_save = current;
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}
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void AP_AutoTune::write_log(float servo, float demanded, float achieved)
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{
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if (!dataflash.logging_started()) {
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return;
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}
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struct log_ATRP pkt = {
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LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
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time_us : AP_HAL::micros64(),
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type : type,
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state : (uint8_t)state,
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servo : (int16_t)(servo*100),
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demanded : demanded,
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achieved : achieved,
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P : current.P.get()
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};
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dataflash.WriteBlock(&pkt, sizeof(pkt));
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}
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