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Copter: add convert_pid_parameters to ease migration to new PID gains

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Leonard Hall 2016-02-17 11:34:31 +09:00 committed by Randy Mackay
parent 479a789325
commit a9cda8b384
2 changed files with 58 additions and 0 deletions
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1
ArduCopter/Copter.h
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@ -672,6 +672,7 @@ private:
void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page); void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
void start_logging() ; void start_logging() ;
void load_parameters(void); void load_parameters(void);
void convert_pid_parameters(void);
void userhook_init(); void userhook_init();
void userhook_FastLoop(); void userhook_FastLoop();
void userhook_50Hz(); void userhook_50Hz();

57
ArduCopter/Parameters.cpp
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@ -1017,4 +1017,61 @@ void Copter::load_parameters(void)
AP_Param::load_all(); AP_Param::load_all();
AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table)); AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before)); cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
// upgrade parameters
convert_pid_parameters();
}
// handle conversion of PID gains from Copter-3.3 to Copter-3.4
void Copter::convert_pid_parameters(void)
{
// conversion info
AP_Param::ConversionInfo pid_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
{ Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
{ Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
{ Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
{ Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
{ Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
{ Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
{ Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
{ Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
};
AP_Param::ConversionInfo imax_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 5, AP_PARAM_FLOAT, "ATC_RAT_RLL_IMAX" },
{ Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" },
{ Parameters::k_param_pid_rate_yaw, 5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" }
};
AP_Param::ConversionInfo filt_conversion_info[] = {
{ Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },
{ Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
{ Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" }
};
// gains increase by 27% due to attitude controller's switch to use radians instead of centi-degrees
// and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
float pid_scaler = 1.27f;
#if FRAME_CONFIG != HELI_FRAME
// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) {
pid_scaler = 0.9f;
}
#endif
// scale PID gains
uint8_t table_size = ARRAY_SIZE(pid_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&pid_conversion_info[i], pid_scaler);
}
// reduce IMAX into -1 ~ +1 range
table_size = ARRAY_SIZE(imax_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
}
// convert filter without scaling
table_size = ARRAY_SIZE(filt_conversion_info);
for (uint8_t i=0; i<table_size; i++) {
AP_Param::convert_old_parameter(&filt_conversion_info[i], 1.0f);
}
} }