zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Copter: AutoTune always backup gains regardless of which axis enabled

master
Leonard Hall 10 years ago committed by Randy Mackay
parent
c1134c1639
commit
c8b522a064
1 changed files with 30 additions and 34 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 64
      ArduCopter/control_autotune.cpp

64
ArduCopter/control_autotune.cpp
Unescape View File

@ -754,40 +754,36 @@ void Copter::autotune_backup_gains_and_initialise() @@ -754,40 +754,36 @@ void Copter::autotune_backup_gains_and_initialise()
orig_bf_feedforward = attitude_control.get_bf_feedforward();
// backup original pids and initialise tuned pid values
if (autotune_roll_enabled()) {
orig_roll_rp = g.pid_rate_roll.kP();
orig_roll_ri = g.pid_rate_roll.kI();
orig_roll_rd = g.pid_rate_roll.kD();
orig_roll_sp = g.p_stabilize_roll.kP();
orig_roll_accel = attitude_control.get_accel_roll_max();
tune_roll_rp = g.pid_rate_roll.kP();
tune_roll_rd = g.pid_rate_roll.kD();
tune_roll_sp = g.p_stabilize_roll.kP();
tune_roll_accel = attitude_control.get_accel_roll_max();
}
if (autotune_pitch_enabled()) {
orig_pitch_rp = g.pid_rate_pitch.kP();
orig_pitch_ri = g.pid_rate_pitch.kI();
orig_pitch_rd = g.pid_rate_pitch.kD();
orig_pitch_sp = g.p_stabilize_pitch.kP();
orig_pitch_accel = attitude_control.get_accel_pitch_max();
tune_pitch_rp = g.pid_rate_pitch.kP();
tune_pitch_rd = g.pid_rate_pitch.kD();
tune_pitch_sp = g.p_stabilize_pitch.kP();
tune_pitch_accel = attitude_control.get_accel_pitch_max();
}
if (autotune_yaw_enabled()) {
orig_yaw_rp = g.pid_rate_yaw.kP();
orig_yaw_ri = g.pid_rate_yaw.kI();
orig_yaw_rd = g.pid_rate_yaw.kD();
orig_yaw_rLPF = g.pid_rate_yaw.filt_hz();
orig_yaw_accel = attitude_control.get_accel_yaw_max();
orig_yaw_sp = g.p_stabilize_yaw.kP();
tune_yaw_rp = g.pid_rate_yaw.kP();
tune_yaw_rLPF = g.pid_rate_yaw.filt_hz();
tune_yaw_sp = g.p_stabilize_yaw.kP();
tune_yaw_accel = attitude_control.get_accel_yaw_max();
}
orig_roll_rp = g.pid_rate_roll.kP();
orig_roll_ri = g.pid_rate_roll.kI();
orig_roll_rd = g.pid_rate_roll.kD();
orig_roll_sp = g.p_stabilize_roll.kP();
orig_roll_accel = attitude_control.get_accel_roll_max();
tune_roll_rp = g.pid_rate_roll.kP();
tune_roll_rd = g.pid_rate_roll.kD();
tune_roll_sp = g.p_stabilize_roll.kP();
tune_roll_accel = attitude_control.get_accel_roll_max();
orig_pitch_rp = g.pid_rate_pitch.kP();
orig_pitch_ri = g.pid_rate_pitch.kI();
orig_pitch_rd = g.pid_rate_pitch.kD();
orig_pitch_sp = g.p_stabilize_pitch.kP();
orig_pitch_accel = attitude_control.get_accel_pitch_max();
tune_pitch_rp = g.pid_rate_pitch.kP();
tune_pitch_rd = g.pid_rate_pitch.kD();
tune_pitch_sp = g.p_stabilize_pitch.kP();
tune_pitch_accel = attitude_control.get_accel_pitch_max();
orig_yaw_rp = g.pid_rate_yaw.kP();
orig_yaw_ri = g.pid_rate_yaw.kI();
orig_yaw_rd = g.pid_rate_yaw.kD();
orig_yaw_rLPF = g.pid_rate_yaw.filt_hz();
orig_yaw_accel = attitude_control.get_accel_yaw_max();
orig_yaw_sp = g.p_stabilize_yaw.kP();
tune_yaw_rp = g.pid_rate_yaw.kP();
tune_yaw_rLPF = g.pid_rate_yaw.filt_hz();
tune_yaw_sp = g.p_stabilize_yaw.kP();
tune_yaw_accel = attitude_control.get_accel_yaw_max();
Log_Write_Event(DATA_AUTOTUNE_INITIALISED);
}

Write Preview
Loading…
Cancel
Save