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Plane: added turn corrdination to autotune yaw rate tuning

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this makes it much easier to do a yaw rate autotune, and also means
you don't need to use the rudder stick at all, as the yaw controller
is already exercised nicely with roll movements, so overall the tune
is faster and more accurate as less cross-axis coupling
This commit is contained in:
Andrew Tridgell 2022-11-29 15:49:36 +11:00 committed by Randy Mackay
parent 502e28e8bc
commit 3579cb451d
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/Attitude.cpp
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@ -618,7 +618,9 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
// user is doing an AUTOTUNE with yaw rate control
const float rudd_expo = rudder_in_expo(true);
const float yaw_rate = (rudd_expo/SERVO_MAX) * g.acro_yaw_rate;
commanded_rudder = yawController.get_rate_out(yaw_rate, speed_scaler, false);
// add in the corrdinated turn yaw rate to make it easier to fly while tuning the yaw rate controller
const float coordination_yaw_rate = degrees(GRAVITY_MSS * tanf(radians(nav_roll_cd*0.01f))/MAX(aparm.airspeed_min,smoothed_airspeed));
commanded_rudder = yawController.get_rate_out(yaw_rate+coordination_yaw_rate, speed_scaler, false);
using_rate_controller = true;
} else {
if (control_mode == &mode_stabilize && rudder_in != 0) {