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Copter: remove NAV_LAT and NAV_LON

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Loiter and navigation controllers now combined
This commit is contained in:
Randy Mackay 2013-04-14 12:09:45 +09:00
parent 7d39b76fde
commit bffe4fa412
3 changed files with 1 additions and 65 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -2150,11 +2150,6 @@ static void tuning(){
g.pi_loiter_lon.kI(tuning_value);
break;
case CH6_NAV_KP:
g.pid_nav_lat.kP(tuning_value);
g.pid_nav_lon.kP(tuning_value);
break;
case CH6_LOITER_RATE_KP:
g.pid_loiter_rate_lon.kP(tuning_value);
g.pid_loiter_rate_lat.kP(tuning_value);
@ -2170,11 +2165,6 @@ static void tuning(){
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_NAV_KI:
g.pid_nav_lat.kI(tuning_value);
g.pid_nav_lon.kI(tuning_value);
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain = tuning_value;

54
ArduCopter/Parameters.pde
View File

@ -385,7 +385,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
// @User: Standard
// @Values: 0:CH6_NONE,1:CH6_STABILIZE_KP,2:CH6_STABILIZE_KI,3:CH6_YAW_KP,4:CH6_RATE_KP,5:CH6_RATE_KI,6:CH6_YAW_RATE_KP,7:CH6_THROTTLE_KP,8:CH6_TOP_BOTTOM_RATIO,9:CH6_RELAY,10:CH6_TRAVERSE_SPEED,11:CH6_NAV_KP,12:CH6_LOITER_KP,13:CH6_HELI_EXTERNAL_GYRO,14:CH6_THR_HOLD_KP,17:CH6_OPTFLOW_KP,18:CH6_OPTFLOW_KI,19:CH6_OPTFLOW_KD,20:CH6_NAV_KI,21:CH6_RATE_KD,22:CH6_LOITER_RATE_KP,23:CH6_LOITER_RATE_KD,24:CH6_YAW_KI,25:CH6_ACRO_KP,26:CH6_YAW_RATE_KD,27:CH6_LOITER_KI,28:CH6_LOITER_RATE_KI,29:CH6_STABILIZE_KD,30:CH6_AHRS_YAW_KP,31:CH6_AHRS_KP,32:CH6_INAV_TC,33:CH6_THROTTLE_KI,34:CH6_THR_ACCEL_KP,35:CH6_THR_ACCEL_KI,36:CH6_THR_ACCEL_KD
// @Values: 0:CH6_NONE,1:CH6_STABILIZE_KP,2:CH6_STABILIZE_KI,3:CH6_YAW_KP,4:CH6_RATE_KP,5:CH6_RATE_KI,6:CH6_YAW_RATE_KP,7:CH6_THROTTLE_KP,8:CH6_TOP_BOTTOM_RATIO,9:CH6_RELAY,10:CH6_TRAVERSE_SPEED,12:CH6_LOITER_KP,13:CH6_HELI_EXTERNAL_GYRO,14:CH6_THR_HOLD_KP,17:CH6_OPTFLOW_KP,18:CH6_OPTFLOW_KI,19:CH6_OPTFLOW_KD,21:CH6_RATE_KD,22:CH6_LOITER_RATE_KP,23:CH6_LOITER_RATE_KD,24:CH6_YAW_KI,25:CH6_ACRO_KP,26:CH6_YAW_RATE_KD,27:CH6_LOITER_KI,28:CH6_LOITER_RATE_KI,29:CH6_STABILIZE_KD,30:CH6_AHRS_YAW_KP,31:CH6_AHRS_KP,32:CH6_INAV_TC,33:CH6_THROTTLE_KI,34:CH6_THR_ACCEL_KP,35:CH6_THR_ACCEL_KI,36:CH6_THR_ACCEL_KD
GSCALAR(radio_tuning, "TUNE", 0),
// @Param: TUNE_LOW
@ -657,58 +657,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
// @Param: NAV_LAT_P
// @DisplayName: Navigation latitude rate controller P gain
// @Description: Navigation latitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the latitude direction
// @Range: 2.000 2.800
// @User: Standard
// @Param: NAV_LAT_I
// @DisplayName: Navigation latitude rate controller I gain
// @Description: Navigation latitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the latitude direction
// @Range: 0.140 0.200
// @User: Standard
// @Param: NAV_LAT_IMAX
// @DisplayName: Navigation rate controller I gain maximum
// @Description: Navigation rate controller I gain maximum. Constrains the lean angle that the I gain will output
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: NAV_LAT_D
// @DisplayName: Navigation latitude rate controller D gain
// @Description: Navigation latitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed
// @Range: 0.000 0.100
// @User: Standard
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
// @Param: NAV_LON_P
// @DisplayName: Navigation longitude rate controller P gain
// @Description: Navigation longitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the longitude direction
// @Range: 2.000 2.800
// @User: Standard
// @Param: NAV_LON_I
// @DisplayName: Navigation longitude rate controller I gain
// @Description: Navigation longitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the longitude direction
// @Range: 0.140 0.200
// @User: Standard
// @Param: NAV_LON_IMAX
// @DisplayName: Navigation longitude rate controller I gain maximum
// @Description: Navigation longitude rate controller I gain maximum. Constrains the lean angle that the I gain will generate
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: NAV_LON_D
// @DisplayName: Navigation longituderate controller D gain
// @Description: Navigation longitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed
// @Range: 0.000 0.100
// @User: Standard
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
// @Param: THR_RATE_P
// @DisplayName: Throttle rate controller P gain
// @Description: Throttle rate controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

2
ArduCopter/defines.h
View File

@ -162,8 +162,6 @@
#define CH6_TOP_BOTTOM_RATIO 8 // upper/lower motor ratio (not used)
#define CH6_RELAY 9 // switch relay on if ch6 high, off if low
#define CH6_TRAVERSE_SPEED 10 // maximum speed to next way point (0 to 10m/s)
#define CH6_NAV_KP 11 // navigation rate controller's P term (speed error to tilt angle)
#define CH6_NAV_KI 20 // navigation rate controller's I term (speed error to tilt angle)
#define CH6_LOITER_KP 12 // loiter distance controller's P term (position error to speed)
#define CH6_LOITER_KI 27 // loiter distance controller's I term (position error to speed)
#define CH6_HELI_EXTERNAL_GYRO 13 // TradHeli specific external tail gyro gain