Added rudimentary tuning with CH6. Assign this to your Flaps knob on your radio. in APM_config.h set your desired option, then upload. The knob will adjust the value in real time. Enter the CLI and run test, tune to see the output value.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1902 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -679,6 +679,7 @@ void medium_loop()
 	// stuff that happens at 50 hz
 	// ---------------------------
 
+
 	// use Yaw to find our bearing error
 	calc_bearing_error();
 
@@ -758,6 +759,9 @@ void slow_loop()
 				gcs.send_message(MSG_LOCATION);
 			#endif
 
+			#if CHANNEL_6_TUNING != CH6_NONE
+				tuning();
+			#endif
 
 			break;
 
@@ -1169,3 +1173,31 @@ adjust_altitude()
 	}
 }
 
+void tuning(){
+
+	#if CHANNEL_6_TUNING == CH6_STABLIZE_KP
+		g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000.0);
+		g.pid_stabilize_pitch.kP((float)g.rc_6.control_in / 1000.0);
+		init_pids();
+
+	#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD
+		// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me.
+		// use test,radio to get the value to use in your config.
+		g.stabilize_dampener.set((float)g.rc_6.control_in / 1000.0);
+
+	#elif CHANNEL_6_TUNING == CH6_BARO_KP
+		g.pid_baro_throttle.kP((float)g.rc_6.control_in / 1000.0);
+
+	#elif CHANNEL_6_TUNING == CH6_BARO_KD
+		g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000.0); //  0 to 1
+
+	#elif CHANNEL_6_TUNING == CH6_SONAR_KP
+		g.pid_sonar_throttle.kP((float)g.rc_6.control_in / 1000.0);
+
+	#elif CHANNEL_6_TUNING == CH6_SONAR_KD
+		g.pid_sonar_throttle.kD((float)g.rc_6.control_in / 1000.0); //  0 to 1
+
+	#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
+		g.Y6_scaling.set((float)g.rc_6.control_in / 1000.0)
+	#endif
+}

ArduCopterMega/config.h

@@ -399,7 +399,7 @@
 
 
 #ifndef THROTTLE_SONAR_P
-# define THROTTLE_SONAR_P		.3
+# define THROTTLE_SONAR_P		.5
 #endif
 #ifndef THROTTLE_SONAR_I
 # define THROTTLE_SONAR_I		0.1
@@ -437,6 +437,10 @@
 #endif
 
 
+#ifndef CHANNEL_6_TUNING
+# define CHANNEL_6_TUNING CH6_NONE
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Dataflash logging control
 //

ArduCopterMega/defines.h

@@ -101,6 +101,17 @@
 #define YAW_BRAKE 1
 #define YAW_RATE 2
 
+// CH_6 Tuning
+#define CH6_NONE 0
+#define CH6_STABLIZE_KP 1
+#define CH6_STABLIZE_KD 2
+#define CH6_BARO_KP 3
+#define CH6_BARO_KD 4
+#define CH6_SONAR_KP 5
+#define CH6_SONAR_KD 6
+#define CH6_Y6_SCALING 7
+
+
 
 // Commands - Note that APM now uses a subset of the MAVLink protocol commands.  See enum MAV_CMD in the GCS_Mavlink library
 #define CMD_BLANK 0 // there is no command stored in the mem location requested

ArduCopterMega/motors.pde

@@ -202,50 +202,13 @@ set_servos_4()
 			motor_out[CH_8]		= constrain(motor_out[CH_8], 	out_min, g.rc_3.radio_max.get());
 		}
 
-		num++;
-		if (num > 25){
+		if (num++ > 25){
 			num = 0;
-			/*
-			Serial.printf("t_alt:%ld, alt:%ld, thr: %d sen: ",
-						target_altitude,
-						current_loc.alt,
-						g.rc_3.servo_out);
-
-			if(altitude_sensor == BARO){
-				Serial.println("Baro");
-			}else{
-				Serial.println("Sonar");
-			}
-			*/
-
-			//Serial.print("!");
-			//debugging with Channel 6
-
-			//g.pid_baro_throttle.kD((float)g.rc_6.control_in / 1000); //  0 to 1
-			//g.pid_baro_throttle.kP((float)g.rc_6.control_in / 4000); //  0 to .25
 
-
-			// uncomment me out to try in flight dampening, 0 = unflyable, .2 = unfun, .13 worked for me.
-			// use test,radio to get the value to use in your config.
-			//g.stabilize_dampener.set((float)g.rc_6.control_in / 1000.0);
-
-
-
-			/*
-			// ROLL and PITCH
-			// make sure you init_pids() after changing the kP
-			g.pid_stabilize_roll.kP((float)g.rc_6.control_in / 1000);
-			init_pids();
 			//Serial.print("kP: ");
 			//Serial.println(g.pid_stabilize_roll.kP(),3);
 			//*/
 
-			/*
-			// YAW
-			// make sure you init_pids() after changing the kP
-			g.pid_yaw.kP((float)g.rc_6.control_in / 1000);
-			init_pids();
-			//*/
 
 			/*
 			Serial.printf("yaw: %d, lat_e: %ld, lng_e: %ld, \tnlat: %ld, nlng: %ld,\tnrll: %ld, nptc: %ld, \tcx: %.2f, sy: %.2f, \ttber: %ld, \tnber: %ld\n",

ArduCopterMega/radio.pde

@@ -29,6 +29,19 @@ void init_rc_in()
 	g.rc_7.set_range(0,1000);
 	g.rc_8.set_range(0,1000);
 
+	#if CHANNEL_6_TUNING == CH6_STABLIZE_KD
+		g.rc_6.set_range(0,300);
+
+	#elif CHANNEL_6_TUNING == CH6_BARO_KP
+		g.rc_6.set_range(0,500);
+
+	#elif CHANNEL_6_TUNING == CH6_BARO_KD
+		g.rc_6.set_range(0,500);
+
+	#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
+		g.rc_6.set_range(800,1000);
+	#endif
+
 	//catch bad RC_3 min values
 }
 

ArduCopterMega/test.pde

@@ -12,6 +12,7 @@ static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_dcm(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
+static int8_t	test_tuning(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_current(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
 static int8_t	test_wp(uint8_t argc, 			const Menu::arg *argv);
@@ -55,6 +56,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	//{"dcm",			test_dcm},
 	//{"omega",		test_omega},
 	{"battery",		test_battery},
+	{"tune",		test_tuning},
 	{"current",		test_current},
 	{"relay",		test_relay},
 	{"waypoints",	test_wp},
@@ -575,6 +577,45 @@ test_battery(uint8_t argc, const Menu::arg *argv)
 	return (0);
 }
 
+static int8_t
+test_tuning(uint8_t argc, const Menu::arg *argv)
+{
+	print_hit_enter();
+
+	while(1){
+		delay(200);
+		read_radio();
+
+		#if CHANNEL_6_TUNING == CH6_NONE
+			Serial.printf_P(PSTR("disabled\n"));
+
+		#elif CHANNEL_6_TUNING == CH6_STABLIZE_KP
+			Serial.printf_P(PSTR("stab kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_STABLIZE_KD
+			Serial.printf_P(PSTR("stab kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_BARO_KP
+			Serial.printf_P(PSTR("baro kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_BARO_KD
+			Serial.printf_P(PSTR("baro kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_SONAR_KP
+			Serial.printf_P(PSTR("sonar kP: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_SONAR_KD
+			Serial.printf_P(PSTR("sonar kD: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+
+		#elif CHANNEL_6_TUNING == CH6_Y6_SCALING
+			Serial.printf_P(PSTR("Y6: %1.3f\n"), ((float)g.rc_6.control_in / 1000.0));
+		#endif
+		if(Serial.available() > 0){
+			return (0);
+		}
+	}
+}
+
 static int8_t
 test_current(uint8_t argc, const Menu::arg *argv)
 {