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Copter: move ch6 tuning to tuning.pde

mission-4.1.18
Randy Mackay 10 years ago
parent
fe74a11b4e
commit
4059e02a8c
2 changed files with 202 additions and 201 deletions
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  1. 203
      ArduCopter/ArduCopter.pde
  2. 200
      ArduCopter/tuning.pde

203
ArduCopter/ArduCopter.pde
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@ -449,13 +449,6 @@ static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.si @@ -449,13 +449,6 @@ static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.si
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
// PIDs
////////////////////////////////////////////////////////////////////////////////
// This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value;
////////////////////////////////////////////////////////////////////////////////
// GPS variables
////////////////////////////////////////////////////////////////////////////////
@ -1116,8 +1109,8 @@ static void three_hz_loop() @@ -1116,8 +1109,8 @@ static void three_hz_loop()
update_events();
if(g.radio_tuning > 0)
tuning();
// update ch6 in flight tuning
tuning();
}
// one_hz_loop - runs at 1Hz
@ -1340,197 +1333,5 @@ static void update_altitude() @@ -1340,197 +1333,5 @@ static void update_altitude()
}
}
static void tuning(){
// exit immediately when radio failsafe is invoked so tuning values are not set to zero
if (failsafe.radio || failsafe.radio_counter != 0) {
return;
}
tuning_value = (float)g.rc_6.control_in / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1
switch(g.radio_tuning) {
// Roll, Pitch tuning
case CH6_STABILIZE_ROLL_PITCH_KP:
g.p_stabilize_roll.kP(tuning_value);
g.p_stabilize_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KP:
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KI:
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
// Yaw tuning
case CH6_STABILIZE_YAW_KP:
g.p_stabilize_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value);
break;
// Altitude and throttle tuning
case CH6_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value);
break;
case CH6_THROTTLE_RATE_KP:
g.p_throttle_rate.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KP:
g.pid_throttle_accel.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KI:
g.pid_throttle_accel.kI(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
break;
// Loiter and navigation tuning
case CH6_LOITER_POSITION_KP:
g.p_loiter_pos.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);
break;
case CH6_LOITER_RATE_KI:
g.pid_loiter_rate_lon.kI(tuning_value);
g.pid_loiter_rate_lat.kI(tuning_value);
break;
case CH6_LOITER_RATE_KD:
g.pid_loiter_rate_lon.kD(tuning_value);
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.control_in);
break;
// Acro roll pitch gain
case CH6_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(g.rc_6.control_in);
break;
case CH6_RATE_PITCH_FF:
g.pid_rate_pitch.ff(tuning_value);
break;
case CH6_RATE_ROLL_FF:
g.pid_rate_roll.ff(tuning_value);
break;
case CH6_RATE_YAW_FF:
g.pid_rate_yaw.ff(tuning_value);
break;
#endif
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
break;
case CH6_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
case CH6_CIRCLE_RATE:
// set circle rate
circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break;
case CH6_SONAR_GAIN:
// set sonar gain
g.sonar_gain.set(tuning_value);
break;
#if 0
// disabled for now - we need accessor functions
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
break;
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
break;
case CH6_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value;
break;
#endif
case CH6_RC_FEEL_RP:
// roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.control_in / 10;
break;
case CH6_RATE_PITCH_KP:
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_PITCH_KI:
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_PITCH_KD:
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_RATE_ROLL_KP:
g.pid_rate_roll.kP(tuning_value);
break;
case CH6_RATE_ROLL_KI:
g.pid_rate_roll.kI(tuning_value);
break;
case CH6_RATE_ROLL_KD:
g.pid_rate_roll.kD(tuning_value);
break;
}
}
AP_HAL_MAIN();

200
ArduCopter/tuning.pde
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@ -0,0 +1,200 @@ @@ -0,0 +1,200 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* tuning.pde - function to update various parameters in flight using the ch6 tuning knob
* This should not be confused with the AutoTune feature which can bve found in control_autotune.pde
*/
// tuning - updates parameters based on the ch6 tuning knob's position
// should be called at 3.3hz
static void tuning() {
// exit immediately if not tuning of when radio failsafe is invoked so tuning values are not set to zero
if ((g.radio_tuning <= 0) || failsafe.radio || failsafe.radio_counter != 0) {
return;
}
float tuning_value = (float)g.rc_6.control_in / 1000.0f;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high);
switch(g.radio_tuning) {
// Roll, Pitch tuning
case CH6_STABILIZE_ROLL_PITCH_KP:
g.p_stabilize_roll.kP(tuning_value);
g.p_stabilize_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KP:
g.pid_rate_roll.kP(tuning_value);
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KI:
g.pid_rate_roll.kI(tuning_value);
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_ROLL_PITCH_KD:
g.pid_rate_roll.kD(tuning_value);
g.pid_rate_pitch.kD(tuning_value);
break;
// Yaw tuning
case CH6_STABILIZE_YAW_KP:
g.p_stabilize_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KP:
g.pid_rate_yaw.kP(tuning_value);
break;
case CH6_YAW_RATE_KD:
g.pid_rate_yaw.kD(tuning_value);
break;
// Altitude and throttle tuning
case CH6_ALTITUDE_HOLD_KP:
g.p_alt_hold.kP(tuning_value);
break;
case CH6_THROTTLE_RATE_KP:
g.p_throttle_rate.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KP:
g.pid_throttle_accel.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KI:
g.pid_throttle_accel.kI(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
break;
// Loiter and navigation tuning
case CH6_LOITER_POSITION_KP:
g.p_loiter_pos.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);
break;
case CH6_LOITER_RATE_KI:
g.pid_loiter_rate_lon.kI(tuning_value);
g.pid_loiter_rate_lat.kI(tuning_value);
break;
case CH6_LOITER_RATE_KD:
g.pid_loiter_rate_lon.kD(tuning_value);
g.pid_loiter_rate_lat.kD(tuning_value);
break;
case CH6_WP_SPEED:
// set waypoint navigation horizontal speed to 0 ~ 1000 cm/s
wp_nav.set_speed_xy(g.rc_6.control_in);
break;
// Acro roll pitch gain
case CH6_ACRO_RP_KP:
g.acro_rp_p = tuning_value;
break;
// Acro yaw gain
case CH6_ACRO_YAW_KP:
g.acro_yaw_p = tuning_value;
break;
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(g.rc_6.control_in);
break;
case CH6_RATE_PITCH_FF:
g.pid_rate_pitch.ff(tuning_value);
break;
case CH6_RATE_ROLL_FF:
g.pid_rate_roll.ff(tuning_value);
break;
case CH6_RATE_YAW_FF:
g.pid_rate_yaw.ff(tuning_value);
break;
#endif
case CH6_AHRS_YAW_KP:
ahrs._kp_yaw.set(tuning_value);
break;
case CH6_AHRS_KP:
ahrs._kp.set(tuning_value);
break;
case CH6_DECLINATION:
// set declination to +-20degrees
compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false); // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact
break;
case CH6_CIRCLE_RATE:
// set circle rate
circle_nav.set_rate(g.rc_6.control_in/25-20); // allow approximately 45 degree turn rate in either direction
break;
case CH6_SONAR_GAIN:
// set sonar gain
g.sonar_gain.set(tuning_value);
break;
#if 0
// disabled for now - we need accessor functions
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
break;
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
break;
case CH6_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value;
break;
#endif
case CH6_RC_FEEL_RP:
// roll-pitch input smoothing
g.rc_feel_rp = g.rc_6.control_in / 10;
break;
case CH6_RATE_PITCH_KP:
g.pid_rate_pitch.kP(tuning_value);
break;
case CH6_RATE_PITCH_KI:
g.pid_rate_pitch.kI(tuning_value);
break;
case CH6_RATE_PITCH_KD:
g.pid_rate_pitch.kD(tuning_value);
break;
case CH6_RATE_ROLL_KP:
g.pid_rate_roll.kP(tuning_value);
break;
case CH6_RATE_ROLL_KI:
g.pid_rate_roll.kI(tuning_value);
break;
case CH6_RATE_ROLL_KD:
g.pid_rate_roll.kD(tuning_value);
break;
}
}
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