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Extra Fixedwing Tuning Parameters: Now you can tune it all from scratch in a single flight

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This commit is contained in:
Christophe De Wagter
2012-03-08 22:22:02 +01:00
parent 7f1a7e4294
commit 0cb2b4699a
3 changed files with 26 additions and 4 deletions
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conf/settings/tuning_ins.xml
+5
View File
@@ -58,6 +58,8 @@
<dl_settings name="alt">
<dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
<dl_setting MAX="10" MIN="0.1" STEP="0.1" VAR="v_ctl_altitude_max_climb" shortname="max climb" param="V_CTL_ALTITUDE_MAX_CLIMB"/>
<dl_setting MAX="2" MIN="0.0" STEP="0.05" VAR="v_ctl_altitude_pre_climb_correction" shortname="pre climb cor" param="V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION"/>
</dl_settings>
<dl_settings name="auto_throttle">
@@ -67,6 +69,9 @@
<strip_button name="Dash" value="1"/>
</dl_setting>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
<dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+16 -3
View File
@@ -42,6 +42,8 @@ float v_ctl_altitude_setpoint;
float v_ctl_altitude_pre_climb;
float v_ctl_altitude_pgain;
float v_ctl_altitude_error;
float v_ctl_altitude_pre_climb_correction;
float v_ctl_altitude_max_climb;
/* inner loop */
float v_ctl_climb_setpoint;
@@ -51,6 +53,8 @@ uint8_t v_ctl_auto_throttle_submode;
/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
float v_ctl_auto_throttle_min_cruise_throttle;
float v_ctl_auto_throttle_max_cruise_throttle;
float v_ctl_auto_throttle_climb_throttle_increment;
float v_ctl_auto_throttle_pgain;
float v_ctl_auto_throttle_igain;
@@ -105,6 +109,11 @@ float v_ctl_auto_groundspeed_sum_err;
#endif
#ifndef V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION
#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION 1.0f
#endif
void v_ctl_init( void ) {
/* mode */
v_ctl_mode = V_CTL_MODE_MANUAL;
@@ -114,6 +123,8 @@ void v_ctl_init( void ) {
v_ctl_altitude_pre_climb = 0.;
v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN;
v_ctl_altitude_error = 0.;
v_ctl_altitude_pre_climb_correction = V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION;
v_ctl_altitude_max_climb = V_CTL_ALTITUDE_MAX_CLIMB;
/* inner loops */
v_ctl_climb_setpoint = 0.;
@@ -122,6 +133,8 @@ void v_ctl_init( void ) {
/* "auto throttle" inner loop parameters */
v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE;
v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE;
v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
v_ctl_auto_throttle_climb_throttle_increment =
V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
@@ -195,8 +208,8 @@ void v_ctl_altitude_loop( void ) {
v_ctl_altitude_error = estimator_z - v_ctl_altitude_setpoint;
v_ctl_climb_setpoint = altitude_pgain_boost * v_ctl_altitude_pgain * v_ctl_altitude_error
+ v_ctl_altitude_pre_climb;
BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+ v_ctl_altitude_pre_climb * v_ctl_altitude_pre_climb_correction;
BoundAbs(v_ctl_climb_setpoint, v_ctl_altitude_max_climb);
#ifdef AGR_CLIMB
if ( v_ctl_climb_mode == V_CTL_CLIMB_MODE_AUTO_THROTTLE) {
@@ -336,7 +349,7 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
controlled_throttle = (err_airspeed + v_ctl_auto_airspeed_sum_err * v_ctl_auto_airspeed_igain) * v_ctl_auto_airspeed_pgain;
// Done, set outputs
Bound(controlled_throttle, 0, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
Bound(controlled_throttle, 0, v_ctl_auto_throttle_max_cruise_throttle);
f_throttle = controlled_throttle;
nav_pitch = v_ctl_pitch_of_vz;
v_ctl_throttle_setpoint = TRIM_UPPRZ(f_throttle * MAX_PPRZ);
sw/airborne/firmwares/fixedwing/guidance/guidance_v.h
+5 -1
View File
@@ -47,6 +47,8 @@ extern float v_ctl_altitude_error;
extern float v_ctl_altitude_setpoint;
extern float v_ctl_altitude_pre_climb;
extern float v_ctl_altitude_pgain;
extern float v_ctl_altitude_pre_climb_correction;
extern float v_ctl_altitude_max_climb;
/* inner loop */
extern float v_ctl_climb_setpoint;
@@ -61,6 +63,8 @@ extern uint8_t v_ctl_auto_throttle_submode;
/* "auto throttle" inner loop parameters */
extern float v_ctl_auto_throttle_nominal_cruise_throttle;
extern float v_ctl_auto_throttle_min_cruise_throttle;
extern float v_ctl_auto_throttle_max_cruise_throttle;
extern float v_ctl_auto_throttle_cruise_throttle;
extern float v_ctl_auto_throttle_climb_throttle_increment;
extern float v_ctl_auto_throttle_pgain;
@@ -115,7 +119,7 @@ extern void v_ctl_throttle_slew( void );
#define guidance_v_SetCruiseThrottle(_v) { \
v_ctl_auto_throttle_cruise_throttle = (_v ? _v : v_ctl_auto_throttle_nominal_cruise_throttle); \
Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); \
Bound(v_ctl_auto_throttle_cruise_throttle, v_ctl_auto_throttle_min_cruise_throttle, v_ctl_auto_throttle_max_cruise_throttle); \
}
#define guidance_v_SetAutoThrottleIgain(_v) { \