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ardupilot/ArduCopter/tuning.cpp

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#include "Copter.h"
/*
* Function to update various parameters in flight using the ch6 tuning knob
* This should not be confused with the AutoTune feature which can bve found in control_autotune.cpp
*/
// tuning - updates parameters based on the ch6 tuning knob's position
// should be called at 3.3hz
void Copter::tuning()
{
const RC_Channel *rc6 = rc().channel(CH_6);
// exit immediately if the tuning function is not set or min and max are both zero
if ((g.radio_tuning <= 0) || (is_zero(g2.tuning_min.get()) && is_zero(g2.tuning_max.get()))) {
return;
}
// exit immediately when radio failsafe is invoked or transmitter has not been turned on
if (failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
return;
}
// exit immediately if a function is assigned to channel 6
if ((RC_Channel::aux_func_t)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
return;
}
const uint16_t radio_in = rc6->get_radio_in();
float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max());
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
switch(g.radio_tuning) {
// Roll, Pitch tuning
case TUNING_STABILIZE_ROLL_PITCH_KP:
attitude_control->get_angle_roll_p().kP(tuning_value);
attitude_control->get_angle_pitch_p().kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KP:
attitude_control->get_rate_roll_pid().kP(tuning_value);
attitude_control->get_rate_pitch_pid().kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KI:
attitude_control->get_rate_roll_pid().kI(tuning_value);
attitude_control->get_rate_pitch_pid().kI(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KD:
attitude_control->get_rate_roll_pid().kD(tuning_value);
attitude_control->get_rate_pitch_pid().kD(tuning_value);
break;
// Yaw tuning
case TUNING_STABILIZE_YAW_KP:
attitude_control->get_angle_yaw_p().kP(tuning_value);
break;
case TUNING_YAW_RATE_KP:
attitude_control->get_rate_yaw_pid().kP(tuning_value);
break;
case TUNING_YAW_RATE_KD:
attitude_control->get_rate_yaw_pid().kD(tuning_value);
break;
// Altitude and throttle tuning
case TUNING_ALTITUDE_HOLD_KP:
pos_control->get_pos_z_p().kP(tuning_value);
break;
case TUNING_THROTTLE_RATE_KP:
pos_control->get_vel_z_p().kP(tuning_value);
break;
case TUNING_ACCEL_Z_KP:
pos_control->get_accel_z_pid().kP(tuning_value);
break;
case TUNING_ACCEL_Z_KI:
pos_control->get_accel_z_pid().kI(tuning_value);
break;
case TUNING_ACCEL_Z_KD:
pos_control->get_accel_z_pid().kD(tuning_value);
break;
// Loiter and navigation tuning
case TUNING_LOITER_POSITION_KP:
pos_control->get_pos_xy_p().kP(tuning_value);
break;
case TUNING_VEL_XY_KP:
pos_control->get_vel_xy_pid().kP(tuning_value);
break;
case TUNING_VEL_XY_KI:
pos_control->get_vel_xy_pid().kI(tuning_value);
break;
case TUNING_WP_SPEED:
wp_nav->set_speed_xy(tuning_value);
break;
// Acro roll pitch gain
case TUNING_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case TUNING_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME
case TUNING_HELI_EXTERNAL_GYRO:
motors->ext_gyro_gain(tuning_value);
break;
case TUNING_RATE_PITCH_FF:
attitude_control->get_rate_pitch_pid().ff(tuning_value);
break;
case TUNING_RATE_ROLL_FF:
attitude_control->get_rate_roll_pid().ff(tuning_value);
break;
case TUNING_RATE_YAW_FF:
attitude_control->get_rate_yaw_pid().ff(tuning_value);
break;
#endif
case TUNING_DECLINATION:
compass.set_declination(ToRad(tuning_value), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
#if MODE_CIRCLE_ENABLED == ENABLED
case TUNING_CIRCLE_RATE:
circle_nav->set_rate(tuning_value);
break;
#endif
#if RANGEFINDER_ENABLED == ENABLED
case TUNING_RANGEFINDER_GAIN:
// set rangefinder gain
g.rangefinder_gain.set(tuning_value);
break;
#endif
#if 0
// disabled for now - we need accessor functions
case TUNING_EKF_VERTICAL_POS:
// Tune the EKF that is being used
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value;
}
break;
case TUNING_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value;
}
break;
case TUNING_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._accNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._accNoise = tuning_value;
}
break;
#endif
case TUNING_RC_FEEL_RP:
attitude_control->set_input_tc(tuning_value);
break;
case TUNING_RATE_PITCH_KP:
attitude_control->get_rate_pitch_pid().kP(tuning_value);
break;
case TUNING_RATE_PITCH_KI:
attitude_control->get_rate_pitch_pid().kI(tuning_value);
break;
case TUNING_RATE_PITCH_KD:
attitude_control->get_rate_pitch_pid().kD(tuning_value);
break;
case TUNING_RATE_ROLL_KP:
attitude_control->get_rate_roll_pid().kP(tuning_value);
break;
case TUNING_RATE_ROLL_KI:
attitude_control->get_rate_roll_pid().kI(tuning_value);
break;
case TUNING_RATE_ROLL_KD:
attitude_control->get_rate_roll_pid().kD(tuning_value);
break;
#if FRAME_CONFIG != HELI_FRAME
case TUNING_RATE_MOT_YAW_HEADROOM:
motors->set_yaw_headroom(tuning_value);
break;
#endif
case TUNING_RATE_YAW_FILT:
attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value);
break;
#if WINCH_ENABLED == ENABLED
case TUNING_WINCH:
// add small deadzone
if (fabsf(tuning_value) < 0.05f) {
tuning_value = 0;
}
g2.winch.set_desired_rate(tuning_value);
break;
#endif
#if MODE_SYSTEMID_ENABLED == ENABLED
case TUNING_SYSTEM_ID_MAGNITUDE:
copter.mode_systemid.set_magnitude(tuning_value);
break;
}
#endif
}
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