ardupilot/ArduCopter/tuning.cpp

201 lines
5.9 KiB
C++

#include "Copter.h"
/*
* Function to update various parameters in flight using the TRANSMITTER_TUNING channel knob
* This should not be confused with the AutoTune feature which can be found in control_autotune.cpp
*/
// tuning - updates parameters based on the ch6 TRANSMITTER_TUNING channel knob's position
// should be called at 3.3hz
void Copter::tuning()
{
const RC_Channel *rc_tuning = rc().find_channel_for_option(RC_Channel::AUX_FUNC::TRANSMITTER_TUNING);
// exit immediately if tuning channel is not set
if (rc_tuning == nullptr) {
return;
}
// 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 || rc_tuning->get_radio_in() == 0) {
return;
}
const uint16_t radio_in = rc_tuning->get_radio_in();
float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc_tuning->get_radio_min(), rc_tuning->get_radio_max());
#if HAL_LOGGING_ENABLED
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
#endif
switch(g.radio_tuning) {
// Roll, Pitch tuning
case TUNING_STABILIZE_ROLL_PITCH_KP:
attitude_control->get_angle_roll_p().set_kP(tuning_value);
attitude_control->get_angle_pitch_p().set_kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KP:
attitude_control->get_rate_roll_pid().set_kP(tuning_value);
attitude_control->get_rate_pitch_pid().set_kP(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KI:
attitude_control->get_rate_roll_pid().set_kI(tuning_value);
attitude_control->get_rate_pitch_pid().set_kI(tuning_value);
break;
case TUNING_RATE_ROLL_PITCH_KD:
attitude_control->get_rate_roll_pid().set_kD(tuning_value);
attitude_control->get_rate_pitch_pid().set_kD(tuning_value);
break;
// Yaw tuning
case TUNING_STABILIZE_YAW_KP:
attitude_control->get_angle_yaw_p().set_kP(tuning_value);
break;
case TUNING_YAW_RATE_KP:
attitude_control->get_rate_yaw_pid().set_kP(tuning_value);
break;
case TUNING_YAW_RATE_KD:
attitude_control->get_rate_yaw_pid().set_kD(tuning_value);
break;
// Altitude and throttle tuning
case TUNING_ALTITUDE_HOLD_KP:
pos_control->get_pos_z_p().set_kP(tuning_value);
break;
case TUNING_THROTTLE_RATE_KP:
pos_control->get_vel_z_pid().set_kP(tuning_value);
break;
case TUNING_ACCEL_Z_KP:
pos_control->get_accel_z_pid().set_kP(tuning_value);
break;
case TUNING_ACCEL_Z_KI:
pos_control->get_accel_z_pid().set_kI(tuning_value);
break;
case TUNING_ACCEL_Z_KD:
pos_control->get_accel_z_pid().set_kD(tuning_value);
break;
// Loiter and navigation tuning
case TUNING_LOITER_POSITION_KP:
pos_control->get_pos_xy_p().set_kP(tuning_value);
break;
case TUNING_VEL_XY_KP:
pos_control->get_vel_xy_pid().set_kP(tuning_value);
break;
case TUNING_VEL_XY_KI:
pos_control->get_vel_xy_pid().set_kI(tuning_value);
break;
case TUNING_WP_SPEED:
wp_nav->set_speed_xy(tuning_value);
break;
#if MODE_ACRO_ENABLED || MODE_SPORT_ENABLED
// Acro roll pitch rates
case TUNING_ACRO_RP_RATE:
g2.command_model_acro_rp.set_rate(tuning_value);
break;
#endif
#if MODE_ACRO_ENABLED || MODE_DRIFT_ENABLED
// Acro yaw rate
case TUNING_ACRO_YAW_RATE:
g2.command_model_acro_y.set_rate(tuning_value);
break;
#endif
#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().set_ff(tuning_value);
break;
case TUNING_RATE_ROLL_FF:
attitude_control->get_rate_roll_pid().set_ff(tuning_value);
break;
case TUNING_RATE_YAW_FF:
attitude_control->get_rate_yaw_pid().set_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
case TUNING_CIRCLE_RATE:
circle_nav->set_rate(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().set_kP(tuning_value);
break;
case TUNING_RATE_PITCH_KI:
attitude_control->get_rate_pitch_pid().set_kI(tuning_value);
break;
case TUNING_RATE_PITCH_KD:
attitude_control->get_rate_pitch_pid().set_kD(tuning_value);
break;
case TUNING_RATE_ROLL_KP:
attitude_control->get_rate_roll_pid().set_kP(tuning_value);
break;
case TUNING_RATE_ROLL_KI:
attitude_control->get_rate_roll_pid().set_kI(tuning_value);
break;
case TUNING_RATE_ROLL_KD:
attitude_control->get_rate_roll_pid().set_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().set_filt_E_hz(tuning_value);
break;
case TUNING_SYSTEM_ID_MAGNITUDE:
#if MODE_SYSTEMID_ENABLED
copter.mode_systemid.set_magnitude(tuning_value);
#endif
break;
case TUNING_POS_CONTROL_ANGLE_MAX:
pos_control->set_lean_angle_max_cd(tuning_value * 100.0);
break;
}
}