mirror of https://github.com/ArduPilot/ardupilot
216 lines
6.1 KiB
C++
216 lines
6.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Copter.h"
|
|
|
|
/*
|
|
* tuning.pde - 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.pde
|
|
*/
|
|
|
|
// tuning - updates parameters based on the ch6 tuning knob's position
|
|
// should be called at 3.3hz
|
|
void Copter::tuning() {
|
|
|
|
// exit immediately if not using tuning function, or when radio failsafe is invoked, so tuning values are not set to zero
|
|
if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0 || g.rc_6.radio_in == 0) {
|
|
return;
|
|
}
|
|
|
|
// set tuning range and then get new value
|
|
g.rc_6.set_range_in(g.radio_tuning_low,g.radio_tuning_high);
|
|
float tuning_value = (float)g.rc_6.control_in / 1000.0f;
|
|
// Tuning Value should never be outside the bounds of the specified low and high value
|
|
tuning_value = constrain_float(tuning_value, g.radio_tuning_low/1000.0f, g.radio_tuning_high/1000.0f);
|
|
|
|
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g.rc_6.control_in, g.radio_tuning_low, g.radio_tuning_high);
|
|
|
|
switch(g.radio_tuning) {
|
|
|
|
// Roll, Pitch tuning
|
|
case TUNING_STABILIZE_ROLL_PITCH_KP:
|
|
g.p_stabilize_roll.kP(tuning_value);
|
|
g.p_stabilize_pitch.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_PITCH_KP:
|
|
g.pid_rate_roll.kP(tuning_value);
|
|
g.pid_rate_pitch.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_PITCH_KI:
|
|
g.pid_rate_roll.kI(tuning_value);
|
|
g.pid_rate_pitch.kI(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_PITCH_KD:
|
|
g.pid_rate_roll.kD(tuning_value);
|
|
g.pid_rate_pitch.kD(tuning_value);
|
|
break;
|
|
|
|
// Yaw tuning
|
|
case TUNING_STABILIZE_YAW_KP:
|
|
g.p_stabilize_yaw.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_YAW_RATE_KP:
|
|
g.pid_rate_yaw.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_YAW_RATE_KD:
|
|
g.pid_rate_yaw.kD(tuning_value);
|
|
break;
|
|
|
|
// Altitude and throttle tuning
|
|
case TUNING_ALTITUDE_HOLD_KP:
|
|
g.p_alt_hold.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_THROTTLE_RATE_KP:
|
|
g.p_vel_z.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_ACCEL_Z_KP:
|
|
g.pid_accel_z.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_ACCEL_Z_KI:
|
|
g.pid_accel_z.kI(tuning_value);
|
|
break;
|
|
|
|
case TUNING_ACCEL_Z_KD:
|
|
g.pid_accel_z.kD(tuning_value);
|
|
break;
|
|
|
|
// Loiter and navigation tuning
|
|
case TUNING_LOITER_POSITION_KP:
|
|
g.p_pos_xy.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_VEL_XY_KP:
|
|
g.pi_vel_xy.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_VEL_XY_KI:
|
|
g.pi_vel_xy.kI(tuning_value);
|
|
break;
|
|
|
|
case TUNING_WP_SPEED:
|
|
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
|
|
wp_nav.set_speed_xy(g.rc_6.control_in);
|
|
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(g.rc_6.control_in);
|
|
break;
|
|
|
|
case TUNING_RATE_PITCH_FF:
|
|
g.pid_rate_pitch.ff(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_FF:
|
|
g.pid_rate_roll.ff(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_YAW_FF:
|
|
g.pid_rate_yaw.ff(tuning_value);
|
|
break;
|
|
#endif
|
|
|
|
case TUNING_DECLINATION:
|
|
// set declination to +-20degrees
|
|
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
|
|
break;
|
|
|
|
case TUNING_CIRCLE_RATE:
|
|
// set circle rate up to approximately 45 deg/sec in either direction
|
|
circle_nav.set_rate((float)g.rc_6.control_in/25.0f-20.0f);
|
|
break;
|
|
|
|
case TUNING_SONAR_GAIN:
|
|
// set sonar gain
|
|
g.sonar_gain.set(tuning_value);
|
|
break;
|
|
|
|
#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:
|
|
// roll-pitch input smoothing
|
|
g.rc_feel_rp = g.rc_6.control_in / 10;
|
|
break;
|
|
|
|
case TUNING_RATE_PITCH_KP:
|
|
g.pid_rate_pitch.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_PITCH_KI:
|
|
g.pid_rate_pitch.kI(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_PITCH_KD:
|
|
g.pid_rate_pitch.kD(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_KP:
|
|
g.pid_rate_roll.kP(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_KI:
|
|
g.pid_rate_roll.kI(tuning_value);
|
|
break;
|
|
|
|
case TUNING_RATE_ROLL_KD:
|
|
g.pid_rate_roll.kD(tuning_value);
|
|
break;
|
|
|
|
#if FRAME_CONFIG != HELI_FRAME
|
|
case TUNING_RATE_MOT_YAW_HEADROOM:
|
|
motors.set_yaw_headroom(tuning_value*1000);
|
|
break;
|
|
#endif
|
|
|
|
case TUNING_RATE_YAW_FILT:
|
|
g.pid_rate_yaw.filt_hz(tuning_value);
|
|
break;
|
|
}
|
|
}
|