atune: remove yaw D-term and add separate yaw max input freq

We usually don't want the high frequency response in our reduced order
model

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp

@@ -198,6 +198,11 @@ void McAutotuneAttitudeControl::Run()
 			_kid(2) = 0.f;
 		}
 
+		// Do not use derivative on the yaw axis as it often only amplifies noise
+		if ((_state == state::yaw) || (_state == state::yaw_pause)) {
+			_kid(2) = 0.f;
+		}
+
 		// To compute the attitude gain, use the following empirical rule:
 		// "An error of 60 degrees should produce the maximum control output"
 		// or K_att * K_rate * rad(60) = 1
@@ -564,11 +569,13 @@ const Vector3f McAutotuneAttitudeControl::getIdentificationSignal(hrt_abstime no
 	float signal;
 
 	if (_param_mc_at_sysid_type.get() == static_cast<int32_t>(SignalType::kLinearSineSweep)) {
-		signal = signal_generator::getLinearSineSweep(_param_mc_at_sysid_f0.get(), _param_mc_at_sysid_f1.get(),
+		const float f_max = (_state == state::yaw) ? _param_mc_at_sysid_fyaw.get() : _param_mc_at_sysid_f1.get();
+		signal = signal_generator::getLinearSineSweep(_param_mc_at_sysid_f0.get(), f_max,
 				_param_mc_at_sysid_time.get(), t);
 
 	} else if (_param_mc_at_sysid_type.get() == static_cast<int32_t>(SignalType::kLogSineSweep)) {
-		signal = signal_generator::getLogSineSweep(_param_mc_at_sysid_f0.get(), _param_mc_at_sysid_f1.get(),
+		const float f_max = (_state == state::yaw) ? _param_mc_at_sysid_fyaw.get() : _param_mc_at_sysid_f1.get();
+		signal = signal_generator::getLogSineSweep(_param_mc_at_sysid_f0.get(), f_max,
 				_param_mc_at_sysid_time.get(), t);
 
 	} else {

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.hpp

@@ -174,6 +174,7 @@ private:
 		(ParamFloat<px4::params::MC_AT_SYSID_AMP>) _param_mc_at_sysid_amp,
 		(ParamFloat<px4::params::MC_AT_SYSID_F0>) _param_mc_at_sysid_f0,
 		(ParamFloat<px4::params::MC_AT_SYSID_F1>) _param_mc_at_sysid_f1,
+		(ParamFloat<px4::params::MC_AT_SYSID_FYAW>) _param_mc_at_sysid_fyaw,
 		(ParamFloat<px4::params::MC_AT_SYSID_TIME>) _param_mc_at_sysid_time,
 		(ParamInt<px4::params::MC_AT_SYSID_TYPE>) _param_mc_at_sysid_type,
 		(ParamInt<px4::params::MC_AT_APPLY>) _param_mc_at_apply,

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control_params.c

@@ -102,6 +102,21 @@ PARAM_DEFINE_FLOAT(MC_AT_SYSID_F0, 1.f);
  */
 PARAM_DEFINE_FLOAT(MC_AT_SYSID_F1, 20.f);
 
+/**
+ * Yaw axis maximum frequency
+ *
+ * End frequency of the identification for the yaw axis.
+ * This is usually set lower than the roll and pitch axes
+ * to only consider the yaw actuation produced by propeller drag.
+ *
+ * @min 0.1
+ * @max 30.0
+ * @decimal 1
+ * @unit Hz
+ * @group Autotune
+ */
+PARAM_DEFINE_FLOAT(MC_AT_SYSID_FYAW, 5.f);
+
 /**
  * Maneuver time for each axis
  *