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Copter: Autotune aggressiveness tweeks

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Leonard Hall 2015-06-07 17:08:02 +09:30 committed by Randy Mackay
parent 0b4d9b80e7
commit e8cc5d6312
1 changed files with 11 additions and 11 deletions
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22
ArduCopter/control_autotune.cpp
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@ -580,13 +580,13 @@ 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*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
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);
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*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
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);
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*(1+0.5f*g.autotune_aggressiveness), autotune_test_min, autotune_test_max);
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);
break;
}
break;
@ -594,10 +594,10 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_TYPE_SP_DOWN:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_p_down(tune_roll_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
autotune_updating_p_down(tune_roll_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_p_down(tune_pitch_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
autotune_updating_p_down(tune_pitch_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_p_down(tune_yaw_sp, AUTOTUNE_SP_MIN, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
@ -608,10 +608,10 @@ void Copter::autotune_attitude_control()
case AUTOTUNE_TYPE_SP_UP:
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
autotune_updating_p_up(tune_roll_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
autotune_updating_p_up(tune_roll_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
break;
case AUTOTUNE_AXIS_PITCH:
autotune_updating_p_up(tune_pitch_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle*(1+0.5f*g.autotune_aggressiveness), autotune_test_max);
autotune_updating_p_up(tune_pitch_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
break;
case AUTOTUNE_AXIS_YAW:
autotune_updating_p_up(tune_yaw_sp, AUTOTUNE_SP_MAX, AUTOTUNE_SP_STEP, autotune_target_angle, autotune_test_max);
@ -1199,7 +1199,7 @@ void Copter::autotune_updating_d_down(float &tune_d, float tune_d_min, float tun
// P is decreased to ensure we are not overshooting the target
void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max)
{
if (measurement_max < target) {
if (measurement_max < target*(1+0.5f*g.autotune_aggressiveness)) {
if (autotune_state.ignore_next == 0){
// if maximum measurement was lower than target so increment the success counter
autotune_counter++;
@ -1228,7 +1228,7 @@ void Copter::autotune_updating_p_down(float &tune_p, float tune_p_min, float tun
// P is increased until we achieve our target within a reasonable time
void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max)
{
if (measurement_max > target) {
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
// ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1;
// if maximum measurement was greater than target so increment the success counter
@ -1257,12 +1257,12 @@ void Copter::autotune_updating_p_up(float &tune_p, float tune_p_max, float tune_
// P is increased until we achieve our target within a reasonable time while reducing D if bounce back increases above the threshold
void Copter::autotune_updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max)
{
if (measurement_max > target) {
if (measurement_max > target*(1+0.5f*g.autotune_aggressiveness)) {
// ignore the next result unless it is the same as this one
autotune_state.ignore_next = 1;
// if maximum measurement was greater than target so increment the success counter
autotune_counter++;
}else if ((measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) && (tune_d > tune_d_min)) {
}else if ((measurement_max < target) && (measurement_max-measurement_min > measurement_max*g.autotune_aggressiveness) && (tune_d > tune_d_min)) {
// if bounce back was larger than the threshold so decrement the success counter
if (autotune_counter > 0 ) {
autotune_counter--;