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Plane: Add P/D only tune sets for quadplanes

apm_2208
Henry Wurzburg 3 years ago committed by Andrew Tridgell
parent
798f985ee5
commit
a3336f3d4f
2 changed files with 28 additions and 16 deletions
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  1. 38
      ArduPlane/tuning.cpp
  2. 6
      ArduPlane/tuning.h

38
ArduPlane/tuning.cpp
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@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Tuning_Plane::var_info[] = {
// @Param: PARAM // @Param: PARAM
// @DisplayName: Transmitter tuning parameter or set of parameters // @DisplayName: Transmitter tuning parameter or set of parameters
// @Description: This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only. // @Description: This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.
// @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,24:RatePitchFF,25:RateRollFF,26:RateYawFF,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ // @Values: 0:None,1:RateRollPI,2:RateRollP,3:RateRollI,4:RateRollD,5:RatePitchPI,6:RatePitchP,7:RatePitchI,8:RatePitchD,9:RateYawPI,10:RateYawP,11:RateYawI,12:RateYawD,13:AngleRollP,14:AnglePitchP,15:AngleYawP,16:PosXYP,17:PosZP,18:VelXYP,19:VelXYI,20:VelZP,21:AccelZP,22:AccelZI,23:AccelZD,24:RatePitchFF,25:RateRollFF,26:RateYawFF,50:FixedWingRollP,51:FixedWingRollI,52:FixedWingRollD,53:FixedWingRollFF,54:FixedWingPitchP,55:FixedWingPitchI,56:FixedWingPitchD,57:FixedWingPitchFF,101:Set_RateRollPitch,102:Set_RateRoll,103:Set_RatePitch,104:Set_RateYaw,105:Set_AngleRollPitch,106:Set_VelXY,107:Set_AccelZ,108:Set_RatePitchDP,109:Set_RateRollDP,110:Set_RateYawDP
// @User: Standard // @User: Standard
AP_GROUPINFO("PARAM", 1, AP_Tuning_Plane, parmset, 0), AP_GROUPINFO("PARAM", 1, AP_Tuning_Plane, parmset, 0),
@ -22,27 +22,33 @@ const AP_Param::GroupInfo AP_Tuning_Plane::var_info[] = {
/* /*
tables of tuning sets tables of tuning sets
*/ */
const uint8_t AP_Tuning_Plane::tuning_set_rate_roll_pitch[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI, const uint8_t AP_Tuning_Plane::tuning_set_rate_roll_pitch[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI,
TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI}; TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI};
const uint8_t AP_Tuning_Plane::tuning_set_rate_roll[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI }; const uint8_t AP_Tuning_Plane::tuning_set_rate_roll[] = { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_PI };
const uint8_t AP_Tuning_Plane::tuning_set_rate_pitch[] = { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI }; const uint8_t AP_Tuning_Plane::tuning_set_rate_pitch[] = { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_PI };
const uint8_t AP_Tuning_Plane::tuning_set_rate_yaw[] = { TUNING_RATE_YAW_P, TUNING_RATE_YAW_I, TUNING_RATE_YAW_D }; const uint8_t AP_Tuning_Plane::tuning_set_rate_yaw[] = { TUNING_RATE_YAW_P, TUNING_RATE_YAW_I, TUNING_RATE_YAW_D };
const uint8_t AP_Tuning_Plane::tuning_set_ang_roll_pitch[] = { TUNING_ANG_ROLL_P, TUNING_ANG_PITCH_P }; const uint8_t AP_Tuning_Plane::tuning_set_ang_roll_pitch[] = { TUNING_ANG_ROLL_P, TUNING_ANG_PITCH_P };
const uint8_t AP_Tuning_Plane::tuning_set_vxy[] = { TUNING_VXY_P, TUNING_VXY_I }; const uint8_t AP_Tuning_Plane::tuning_set_vxy[] = { TUNING_VXY_P, TUNING_VXY_I };
const uint8_t AP_Tuning_Plane::tuning_set_az[] = { TUNING_AZ_P, TUNING_AZ_I, TUNING_AZ_D }; const uint8_t AP_Tuning_Plane::tuning_set_az[] = { TUNING_AZ_P, TUNING_AZ_I, TUNING_AZ_D };
const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]= { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P };
const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]= { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P };
const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]= { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P };
// macro to prevent getting the array length wrong // macro to prevent getting the array length wrong
#define TUNING_ARRAY(v) ARRAY_SIZE(v), v #define TUNING_ARRAY(v) ARRAY_SIZE(v), v
// list of tuning sets // list of tuning sets
const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = { const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
{ TUNING_SET_RATE_ROLL_PITCH, TUNING_ARRAY(tuning_set_rate_roll_pitch) }, { TUNING_SET_RATE_ROLL_PITCH, TUNING_ARRAY(tuning_set_rate_roll_pitch) },
{ TUNING_SET_RATE_ROLL, TUNING_ARRAY(tuning_set_rate_roll) }, { TUNING_SET_RATE_ROLL, TUNING_ARRAY(tuning_set_rate_roll) },
{ TUNING_SET_RATE_PITCH, TUNING_ARRAY(tuning_set_rate_pitch) }, { TUNING_SET_RATE_PITCH, TUNING_ARRAY(tuning_set_rate_pitch) },
{ TUNING_SET_RATE_YAW, TUNING_ARRAY(tuning_set_rate_yaw) }, { TUNING_SET_RATE_YAW, TUNING_ARRAY(tuning_set_rate_yaw) },
{ TUNING_SET_ANG_ROLL_PITCH, TUNING_ARRAY(tuning_set_ang_roll_pitch) }, { TUNING_SET_ANG_ROLL_PITCH, TUNING_ARRAY(tuning_set_ang_roll_pitch) },
{ TUNING_SET_VXY, TUNING_ARRAY(tuning_set_vxy) }, { TUNING_SET_VXY, TUNING_ARRAY(tuning_set_vxy) },
{ TUNING_SET_AZ, TUNING_ARRAY(tuning_set_az) }, { TUNING_SET_AZ, TUNING_ARRAY(tuning_set_az) },
{ TUNING_SET_RATE_PITCHDP, TUNING_ARRAY(tuning_set_rate_pitchDP) },
{ TUNING_SET_RATE_ROLLDP, TUNING_ARRAY(tuning_set_rate_rollDP) },
{ TUNING_SET_RATE_YAWDP, TUNING_ARRAY(tuning_set_rate_yawDP) },
{ 0, 0, nullptr } { 0, 0, nullptr }
}; };

6
ArduPlane/tuning.h
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@ -83,6 +83,9 @@ private:
TUNING_SET_ANG_ROLL_PITCH = 5, TUNING_SET_ANG_ROLL_PITCH = 5,
TUNING_SET_VXY = 6, TUNING_SET_VXY = 6,
TUNING_SET_AZ = 7, TUNING_SET_AZ = 7,
TUNING_SET_RATE_PITCHDP = 8,
TUNING_SET_RATE_ROLLDP = 9,
TUNING_SET_RATE_YAWDP = 10,
}; };
AP_Float *get_param_pointer(uint8_t parm) override; AP_Float *get_param_pointer(uint8_t parm) override;
@ -98,6 +101,9 @@ private:
static const uint8_t tuning_set_ang_roll_pitch[]; static const uint8_t tuning_set_ang_roll_pitch[];
static const uint8_t tuning_set_vxy[]; static const uint8_t tuning_set_vxy[];
static const uint8_t tuning_set_az[]; static const uint8_t tuning_set_az[];
static const uint8_t tuning_set_rate_pitchDP[];
static const uint8_t tuning_set_rate_rollDP[];
static const uint8_t tuning_set_rate_yawDP[];
// mask of what params have been set // mask of what params have been set
uint64_t have_set; uint64_t have_set;

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