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Copter: AUTOTUNE_MIN_D param to allow controlling minimum D

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This commit is contained in:
Randy Mackay 2015-08-23 14:44:45 +09:00
parent a2d17b87c7
commit a10a74d498
3 changed files with 18 additions and 10 deletions
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7
ArduCopter/Parameters.cpp
View File

@ -1065,6 +1065,13 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Standard
GSCALAR(autotune_aggressiveness, "AUTOTUNE_AGGR", 0.1f),
// @Param: AUTOTUNE_MIN_D
// @DisplayName: AutoTune minimum D
// @Description: Defines the minimum D gain
// @Range: 0.001 0.006
// @User: Standard
GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.004f),
AP_VAREND
};

4
ArduCopter/Parameters.h
View File

@ -336,8 +336,9 @@ public:
k_param_autotune_aggressiveness,
k_param_pi_vel_xy,
k_param_fs_ekf_action,
k_param_rtl_climb_min, // 249
k_param_rtl_climb_min,
k_param_rpm_sensor,
k_param_autotune_min_d, // 251
// 254,255: reserved
};
@ -498,6 +499,7 @@ public:
// Autotune
AP_Int8 autotune_axis_bitmask;
AP_Float autotune_aggressiveness;
AP_Float autotune_min_d;
// Note: keep initializers here in the same order as they are declared
// above.

17
ArduCopter/control_autotune.cpp
View File

@ -57,7 +57,6 @@
#define AUTOTUNE_PI_RATIO_FOR_TESTING 0.1f // I is set 10x smaller than P during testing
#define AUTOTUNE_PI_RATIO_FINAL 1.0f // I is set 1x P after testing
#define AUTOTUNE_YAW_PI_RATIO_FINAL 0.1f // I is set 1x P after testing
#define AUTOTUNE_RD_MIN 0.004f // minimum Rate D value
#define AUTOTUNE_RD_MAX 0.050f // maximum Rate D value
#define AUTOTUNE_RLPF_MIN 1.0f // minimum Rate Yaw filter value
#define AUTOTUNE_RLPF_MAX 5.0f // maximum Rate Yaw filter value
@ -552,10 +551,10 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_TYPE_RD_UP:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_d_up(tune_roll_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_d_up(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_d_up(tune_pitch_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_d_up(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_MAX, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_d_up(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RLPF_MAX, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
@ -566,10 +565,10 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_TYPE_RD_DOWN:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_d_down(tune_roll_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_d_down(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_d_down(tune_pitch_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_d_down(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_d_down(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
@ -580,10 +579,10 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_TYPE_RP_UP:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_p_up_d_down(tune_roll_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_p_up_d_down(tune_roll_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_roll_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_p_up_d_down(tune_pitch_rd, AUTOTUNE_RD_MIN, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
autotune_updating_p_up_d_down(tune_pitch_rd, g.autotune_min_d, AUTOTUNE_RD_STEP, tune_pitch_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_p_up_d_down(tune_yaw_rLPF, AUTOTUNE_RLPF_MIN, AUTOTUNE_RD_STEP, tune_yaw_rp, AUTOTUNE_RP_MIN, AUTOTUNE_RP_MAX, AUTOTUNE_RP_STEP, autotune_target_rate, autotune_test_min, autotune_test_max);
@ -635,11 +634,11 @@ void Copter::autotune_attitude_control()
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
tune_roll_rd = max(AUTOTUNE_RD_MIN, tune_roll_rd * AUTOTUNE_RD_BACKOFF);
tune_roll_rd = max(g.autotune_min_d, tune_roll_rd * AUTOTUNE_RD_BACKOFF);
tune_roll_rp = max(AUTOTUNE_RP_MIN, tune_roll_rp * AUTOTUNE_RD_BACKOFF);
break;
case AUTOTUNE_AXIS_PITCH:
tune_pitch_rd = max(AUTOTUNE_RD_MIN, tune_pitch_rd * AUTOTUNE_RD_BACKOFF);
tune_pitch_rd = max(g.autotune_min_d, tune_pitch_rd * AUTOTUNE_RD_BACKOFF);
tune_pitch_rp = max(AUTOTUNE_RP_MIN, tune_pitch_rp * AUTOTUNE_RD_BACKOFF);
break;
case AUTOTUNE_AXIS_YAW: