Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

AC_AutoTune: zero out D_FF during twitching #27025

Merged
merged 1 commit into from
May 14, 2024
Merged

AC_AutoTune: zero out D_FF during twitching #27025

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions libraries/AC_AutoTune/AC_AutoTune.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -286,9 +286,9 @@ class AC_AutoTune
LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second

// backup of currently being tuned parameter values
float orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_fltt, orig_roll_smax, orig_roll_sp, orig_roll_accel;
float orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_fltt, orig_pitch_smax, orig_pitch_sp, orig_pitch_accel;
float orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_fltt, orig_yaw_smax, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
float orig_roll_rp, orig_roll_ri, orig_roll_rd, orig_roll_rff, orig_roll_dff, orig_roll_fltt, orig_roll_smax, orig_roll_sp, orig_roll_accel;
float orig_pitch_rp, orig_pitch_ri, orig_pitch_rd, orig_pitch_rff, orig_pitch_dff, orig_pitch_fltt, orig_pitch_smax, orig_pitch_sp, orig_pitch_accel;
float orig_yaw_rp, orig_yaw_ri, orig_yaw_rd, orig_yaw_rff, orig_yaw_dff, orig_yaw_fltt, orig_yaw_smax, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel;
bool orig_bf_feedforward;

// currently being tuned parameter values
Expand Down
21 changes: 21 additions & 0 deletions libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
orig_roll_dff = attitude_control->get_rate_roll_pid().kDff();
orig_roll_fltt = attitude_control->get_rate_roll_pid().filt_T_hz();
orig_roll_smax = attitude_control->get_rate_roll_pid().slew_limit();
orig_roll_sp = attitude_control->get_angle_roll_p().kP();
Expand All @@ -162,6 +163,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
orig_pitch_dff = attitude_control->get_rate_pitch_pid().kDff();
orig_pitch_fltt = attitude_control->get_rate_pitch_pid().filt_T_hz();
orig_pitch_smax = attitude_control->get_rate_pitch_pid().slew_limit();
orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
Expand All @@ -175,6 +177,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
orig_yaw_dff = attitude_control->get_rate_yaw_pid().kDff();
orig_yaw_fltt = attitude_control->get_rate_yaw_pid().filt_T_hz();
orig_yaw_smax = attitude_control->get_rate_yaw_pid().slew_limit();
orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
Expand Down Expand Up @@ -206,6 +209,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_roll_pid().kI(orig_roll_ri);
attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_angle_roll_p().kP(orig_roll_sp);
Expand All @@ -218,6 +222,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_pitch_pid().kI(orig_pitch_ri);
attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
Expand All @@ -230,6 +235,7 @@ void AC_AutoTune_Multi::load_orig_gains()
attitude_control->get_rate_yaw_pid().kI(orig_yaw_ri);
attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
Expand All @@ -253,6 +259,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_angle_roll_p().kP(tune_roll_sp);
attitude_control->set_accel_roll_max_cdss(tune_roll_accel);
}
Expand All @@ -263,6 +270,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
attitude_control->set_accel_pitch_max_cdss(tune_pitch_accel);
}
Expand All @@ -278,6 +286,7 @@ void AC_AutoTune_Multi::load_tuned_gains()
attitude_control->get_rate_yaw_pid().filt_E_hz(tune_yaw_rLPF);
}
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_angle_yaw_p().kP(tune_yaw_sp);
attitude_control->set_accel_yaw_max_cdss(tune_yaw_accel);
}
Expand All @@ -296,6 +305,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_roll_pid().kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_roll_pid().kD(orig_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_angle_roll_p().kP(orig_roll_sp);
Expand All @@ -305,6 +315,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_pitch_pid().kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_pitch_pid().kD(orig_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_angle_pitch_p().kP(orig_pitch_sp);
Expand All @@ -314,6 +325,7 @@ void AC_AutoTune_Multi::load_intra_test_gains()
attitude_control->get_rate_yaw_pid().kI(orig_yaw_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
attitude_control->get_rate_yaw_pid().kD(orig_yaw_rd);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
attitude_control->get_rate_yaw_pid().filt_E_hz(orig_yaw_rLPF);
Expand All @@ -331,6 +343,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*0.01f);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(0.0f);
attitude_control->get_rate_roll_pid().kDff(0.0f);
attitude_control->get_rate_roll_pid().filt_T_hz(0.0f);
attitude_control->get_rate_roll_pid().slew_limit(0.0f);
attitude_control->get_angle_roll_p().kP(tune_roll_sp);
Expand All @@ -340,6 +353,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*0.01f);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(0.0f);
attitude_control->get_rate_pitch_pid().kDff(0.0f);
attitude_control->get_rate_pitch_pid().filt_T_hz(0.0f);
attitude_control->get_rate_pitch_pid().slew_limit(0.0f);
attitude_control->get_angle_pitch_p().kP(tune_pitch_sp);
Expand All @@ -349,6 +363,7 @@ void AC_AutoTune_Multi::load_test_gains()
attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*0.01f);
attitude_control->get_rate_yaw_pid().ff(0.0f);
attitude_control->get_rate_yaw_pid().kDff(0.0f);
if (axis == YAW_D) {
attitude_control->get_rate_yaw_pid().kD(tune_yaw_rd);
} else {
Expand Down Expand Up @@ -383,6 +398,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_roll_pid().kI(tune_roll_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_roll_pid().kD(tune_roll_rd);
attitude_control->get_rate_roll_pid().ff(orig_roll_rff);
attitude_control->get_rate_roll_pid().kDff(orig_roll_dff);
attitude_control->get_rate_roll_pid().filt_T_hz(orig_roll_fltt);
attitude_control->get_rate_roll_pid().slew_limit(orig_roll_smax);
attitude_control->get_rate_roll_pid().save_gains();
Expand All @@ -399,6 +415,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_roll_ri = attitude_control->get_rate_roll_pid().kI();
orig_roll_rd = attitude_control->get_rate_roll_pid().kD();
orig_roll_rff = attitude_control->get_rate_roll_pid().ff();
orig_roll_dff = attitude_control->get_rate_roll_pid().kDff();
orig_roll_sp = attitude_control->get_angle_roll_p().kP();
orig_roll_accel = attitude_control->get_accel_roll_max_cdss();
}
Expand All @@ -409,6 +426,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_pitch_pid().kI(tune_pitch_rp*AUTOTUNE_PI_RATIO_FINAL);
attitude_control->get_rate_pitch_pid().kD(tune_pitch_rd);
attitude_control->get_rate_pitch_pid().ff(orig_pitch_rff);
attitude_control->get_rate_pitch_pid().kDff(orig_pitch_dff);
attitude_control->get_rate_pitch_pid().filt_T_hz(orig_pitch_fltt);
attitude_control->get_rate_pitch_pid().slew_limit(orig_pitch_smax);
attitude_control->get_rate_pitch_pid().save_gains();
Expand All @@ -425,6 +443,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_pitch_ri = attitude_control->get_rate_pitch_pid().kI();
orig_pitch_rd = attitude_control->get_rate_pitch_pid().kD();
orig_pitch_rff = attitude_control->get_rate_pitch_pid().ff();
orig_pitch_dff = attitude_control->get_rate_pitch_pid().kDff();
orig_pitch_sp = attitude_control->get_angle_pitch_p().kP();
orig_pitch_accel = attitude_control->get_accel_pitch_max_cdss();
}
Expand All @@ -435,6 +454,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
attitude_control->get_rate_yaw_pid().kP(tune_yaw_rp);
attitude_control->get_rate_yaw_pid().kI(tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL);
attitude_control->get_rate_yaw_pid().ff(orig_yaw_rff);
attitude_control->get_rate_yaw_pid().kDff(orig_yaw_dff);
attitude_control->get_rate_yaw_pid().filt_T_hz(orig_yaw_fltt);
attitude_control->get_rate_yaw_pid().slew_limit(orig_yaw_smax);
if (yaw_d_enabled()) {
Expand All @@ -457,6 +477,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
orig_yaw_ri = attitude_control->get_rate_yaw_pid().kI();
orig_yaw_rd = attitude_control->get_rate_yaw_pid().kD();
orig_yaw_rff = attitude_control->get_rate_yaw_pid().ff();
orig_yaw_dff = attitude_control->get_rate_yaw_pid().kDff();
orig_yaw_rLPF = attitude_control->get_rate_yaw_pid().filt_E_hz();
orig_yaw_sp = attitude_control->get_angle_yaw_p().kP();
orig_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
Expand Down
Loading