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Tuning indication on OSD(and GCS) #28831

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Tuning indication on OSD(and GCS) #28831

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7b8d8b2
AP_Tuning: Show current parameter value on OSD and GCS
Yury-MonZon Dec 9, 2024
cf762d6
AP_Tuning_Plane: Added PIDFF tuning sets
Yury-MonZon Dec 9, 2024
7ec6156
AP_Tuning: Update OSD on 5 percent change
Yury-MonZon Dec 9, 2024
37ec906
AP_Tuning: Bugfix
Yury-MonZon Dec 31, 2024
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6 changes: 6 additions & 0 deletions ArduPlane/tuning.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ const uint8_t AP_Tuning_Plane::tuning_set_az[] = { TUNING_AZ_P, TU
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 };
const uint8_t AP_Tuning_Plane::tuning_set_dp_roll_pitch[] = { TUNING_RLL_D, TUNING_RLL_P, TUNING_PIT_D, TUNING_PIT_P };
const uint8_t AP_Tuning_Plane::tuning_set_pidff_roll[] = { TUNING_RLL_P, TUNING_RLL_I, TUNING_RLL_D, TUNING_RLL_FF };
const uint8_t AP_Tuning_Plane::tuning_set_pidff_pitch[] = { TUNING_PIT_P, TUNING_PIT_I, TUNING_PIT_D, TUNING_PIT_FF };

// macro to prevent getting the array length wrong
#define TUNING_ARRAY(v) ARRAY_SIZE(v), v
Expand All @@ -53,6 +56,9 @@ const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
{ 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) },
{ TUNING_SET_DP_ROLL_PITCH, TUNING_ARRAY(tuning_set_dp_roll_pitch) },
{ TUNING_SET_PIDFF_ROLL, TUNING_ARRAY(tuning_set_pidff_roll) },
{ TUNING_SET_PIDFF_PITCH, TUNING_ARRAY(tuning_set_pidff_pitch) },
{ 0, 0, nullptr }
};

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6 changes: 6 additions & 0 deletions ArduPlane/tuning.h
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Expand Up @@ -94,6 +94,9 @@ class AP_Tuning_Plane : public AP_Tuning
TUNING_SET_RATE_PITCHDP = 8,
TUNING_SET_RATE_ROLLDP = 9,
TUNING_SET_RATE_YAWDP = 10,
TUNING_SET_DP_ROLL_PITCH = 11,
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on what aircraft does it make sense to link D and P?

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@Yury-MonZon Yury-MonZon Dec 31, 2024 •
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They are not linked. This is a set of D and P individually for R and P (4 params total). The idea is to use this set after the autotune is done. This way a user can manually adjust D and then P via OSD.

TUNING_SET_PIDFF_ROLL = 12,
TUNING_SET_PIDFF_PITCH = 13,
};

AP_Float *get_param_pointer(uint8_t parm) override;
Expand All @@ -112,6 +115,9 @@ class AP_Tuning_Plane : public AP_Tuning
static const uint8_t tuning_set_rate_pitchDP[];
static const uint8_t tuning_set_rate_rollDP[];
static const uint8_t tuning_set_rate_yawDP[];
static const uint8_t tuning_set_dp_roll_pitch[];
static const uint8_t tuning_set_pidff_roll[];
static const uint8_t tuning_set_pidff_pitch[];

// mask of what params have been set
uint64_t have_set;
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13 changes: 11 additions & 2 deletions libraries/AP_Tuning/AP_Tuning.cpp
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Expand Up @@ -123,6 +123,7 @@ void AP_Tuning::re_center(void)
AP_Float *f = get_param_pointer(current_parm);
if (f != nullptr) {
center_value = f->get();
old_value = 0.0;
}
mid_point_wait = true;
}
Expand Down Expand Up @@ -202,18 +203,17 @@ void AP_Tuning::check_input(uint8_t flightmode)

//hal.console->printf("chan_value %.2f last_channel_value %.2f\n", chan_value, last_channel_value);

const float dead_zone = 0.02;
if (mid_point_wait) {
// see if we have crossed the mid-point. We use a small deadzone to make it easier
// to move to the "indent" portion of a slider to start tuning
const float dead_zone = 0.02;
if ((chan_value > dead_zone && last_channel_value > 0) ||
(chan_value < -dead_zone && last_channel_value < 0)) {
// still waiting
return;
}
// starting tuning
mid_point_wait = false;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Tuning: mid-point %s", get_tuning_name(current_parm));
AP_Notify::events.tune_started = 1;
}
last_channel_value = chan_value;
Expand All @@ -228,6 +228,15 @@ void AP_Tuning::check_input(uint8_t flightmode)
need_revert |= (1U << current_parm_index);
set_value(current_parm, new_value);

if ( fabsf(new_value-old_value) > (0.05 * old_value) ) {
old_value = new_value;
GCS_SEND_TEXT(MAV_SEVERITY_INFO,
"Tuning: %s%s%0.4f",
get_tuning_name(current_parm),
((chan_value < dead_zone) && (chan_value > -dead_zone)) ? "> " : ": ",
(double)(new_value));
}

#if HAL_LOGGING_ENABLED
Log_Write_Parameter_Tuning(new_value);
#endif
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3 changes: 3 additions & 0 deletions libraries/AP_Tuning/AP_Tuning.h
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Expand Up @@ -64,6 +64,9 @@ class AP_Tuning

uint32_t last_check_ms;

// last tuning value scaled
float old_value;

void Log_Write_Parameter_Tuning(float value);

// the parameter we are tuning
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