mirror of https://github.com/ArduPilot/ardupilot
196 lines
5.3 KiB
Plaintext
196 lines
5.3 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* tuning.pde - function to update various parameters in flight using the ch6 tuning knob
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* This should not be confused with the AutoTune feature which can bve found in control_autotune.pde
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*/
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// tuning - updates parameters based on the ch6 tuning knob's position
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// should be called at 3.3hz
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static void tuning() {
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// exit immediately if not tuning of when radio failsafe is invoked so tuning values are not set to zero
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if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0) {
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return;
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}
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float tuning_value = (float)g.rc_6.control_in / 1000.0f;
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g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
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Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g.rc_6.control_in, g.radio_tuning_low, g.radio_tuning_high);
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switch(g.radio_tuning) {
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// Roll, Pitch tuning
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case TUNING_STABILIZE_ROLL_PITCH_KP:
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g.p_stabilize_roll.kP(tuning_value);
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g.p_stabilize_pitch.kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KP:
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g.pid_rate_roll.kP(tuning_value);
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g.pid_rate_pitch.kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KI:
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g.pid_rate_roll.kI(tuning_value);
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g.pid_rate_pitch.kI(tuning_value);
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break;
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case TUNING_RATE_ROLL_PITCH_KD:
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g.pid_rate_roll.kD(tuning_value);
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g.pid_rate_pitch.kD(tuning_value);
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break;
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// Yaw tuning
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case TUNING_STABILIZE_YAW_KP:
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g.p_stabilize_yaw.kP(tuning_value);
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break;
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case TUNING_YAW_RATE_KP:
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g.pid_rate_yaw.kP(tuning_value);
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break;
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case TUNING_YAW_RATE_KD:
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g.pid_rate_yaw.kD(tuning_value);
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break;
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// Altitude and throttle tuning
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case TUNING_ALTITUDE_HOLD_KP:
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g.p_alt_hold.kP(tuning_value);
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break;
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case TUNING_THROTTLE_RATE_KP:
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g.p_vel_z.kP(tuning_value);
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break;
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case TUNING_ACCEL_Z_KP:
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g.pid_accel_z.kP(tuning_value);
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break;
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case TUNING_ACCEL_Z_KI:
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g.pid_accel_z.kI(tuning_value);
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break;
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case TUNING_ACCEL_Z_KD:
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g.pid_accel_z.kD(tuning_value);
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break;
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// Loiter and navigation tuning
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case TUNING_LOITER_POSITION_KP:
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g.p_pos_xy.kP(tuning_value);
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break;
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case TUNING_VEL_XY_KP:
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g.pi_vel_xy.kP(tuning_value);
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break;
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case TUNING_VEL_XY_KI:
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g.pi_vel_xy.kI(tuning_value);
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break;
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case TUNING_WP_SPEED:
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// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
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wp_nav.set_speed_xy(g.rc_6.control_in);
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break;
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// Acro roll pitch gain
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case TUNING_ACRO_RP_KP:
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g.acro_rp_p = tuning_value;
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break;
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// Acro yaw gain
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case TUNING_ACRO_YAW_KP:
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g.acro_yaw_p = tuning_value;
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break;
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#if FRAME_CONFIG == HELI_FRAME
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case TUNING_HELI_EXTERNAL_GYRO:
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motors.ext_gyro_gain(g.rc_6.control_in);
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break;
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case TUNING_RATE_PITCH_FF:
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g.pid_rate_pitch.ff(tuning_value);
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break;
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case TUNING_RATE_ROLL_FF:
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g.pid_rate_roll.ff(tuning_value);
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break;
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case TUNING_RATE_YAW_FF:
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g.pid_rate_yaw.ff(tuning_value);
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break;
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#endif
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case TUNING_DECLINATION:
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// set declination to +-20degrees
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compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
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break;
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case TUNING_CIRCLE_RATE:
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// set circle rate
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circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
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break;
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case TUNING_SONAR_GAIN:
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// set sonar gain
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g.sonar_gain.set(tuning_value);
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break;
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#if 0
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// disabled for now - we need accessor functions
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case TUNING_EKF_VERTICAL_POS:
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// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
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ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
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break;
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case TUNING_EKF_HORIZONTAL_POS:
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// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
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ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
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break;
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case TUNING_EKF_ACCEL_NOISE:
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// EKF's accel noise (lower means trust accels more, gps & baro less)
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ahrs.get_NavEKF()._accNoise = tuning_value;
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break;
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#endif
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case TUNING_RC_FEEL_RP:
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// roll-pitch input smoothing
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g.rc_feel_rp = g.rc_6.control_in / 10;
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break;
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case TUNING_RATE_PITCH_KP:
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g.pid_rate_pitch.kP(tuning_value);
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break;
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case TUNING_RATE_PITCH_KI:
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g.pid_rate_pitch.kI(tuning_value);
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break;
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case TUNING_RATE_PITCH_KD:
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g.pid_rate_pitch.kD(tuning_value);
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break;
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case TUNING_RATE_ROLL_KP:
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g.pid_rate_roll.kP(tuning_value);
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break;
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case TUNING_RATE_ROLL_KI:
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g.pid_rate_roll.kI(tuning_value);
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break;
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case TUNING_RATE_ROLL_KD:
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g.pid_rate_roll.kD(tuning_value);
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break;
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case TUNING_RATE_MOT_YAW_HEADROOM:
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motors.set_yaw_headroom(tuning_value*1000);
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break;
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case TUNING_RATE_YAW_FILT:
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g.pid_rate_yaw.filt_hz(tuning_value);
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break;
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}
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}
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