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

Heli AutoTune: fix rate and accel limiting #28911

Merged
merged 1 commit into from
Jan 6, 2025
Merged

Heli AutoTune: fix rate and accel limiting #28911

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
35 changes: 25 additions & 10 deletions libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -528,9 +528,9 @@ void AC_AutoTune_Heli::load_test_gains()
rate_test_max = orig_roll_rate;
accel_test_max = tune_roll_accel;
} else {
// have attitude controller use accel and rate limit parameter
rate_test_max = rate_max;
accel_test_max = accel_max;
// have attitude controller not perform rate limiting and angle P scaling based on accel max
rate_test_max = 0.0;
accel_test_max = 0.0;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_roll_rff*AUTOTUNE_FFI_RATIO_FINAL;
Expand All @@ -552,9 +552,9 @@ void AC_AutoTune_Heli::load_test_gains()
rate_test_max = orig_pitch_rate;
accel_test_max = tune_pitch_accel;
} else {
// have attitude controller use accel and rate limit parameter
rate_test_max = rate_max;
accel_test_max = accel_max;
// have attitude controller not perform rate limiting and angle P scaling based on accel max
rate_test_max = 0.0;
accel_test_max = 0.0;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_pitch_rff*AUTOTUNE_FFI_RATIO_FINAL;
Expand All @@ -577,9 +577,9 @@ void AC_AutoTune_Heli::load_test_gains()
rate_test_max = orig_yaw_rate;
accel_test_max = tune_yaw_accel;
} else {
// have attitude controller use accel and rate limit parameter
rate_test_max = rate_max;
accel_test_max = accel_max;
// have attitude controller not perform rate limiting and angle P scaling based on accel max
rate_test_max = 0.0;
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

If we are limiting the chirp then we shouldn't be hitting these limits unless there is a plot input.

I am not very familiar with how you handle pilot input here but it may be dangerous if you don't have acceleration limiting and do accept pilot input.

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@lthall Pilot input is not allowed during the autotune input. It works just like multi autotune where once the pilot makes inputs, the autotune maneuver is stopped.

accel_test_max = 0.0;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL;
Expand Down Expand Up @@ -811,7 +811,22 @@ void AC_AutoTune_Heli::dwell_test_run(sweep_info &test_data)
}

if (settle_time == 0) {
target_angle_cd = -chirp_input.update((now - dwell_start_time_ms) * 0.001, degrees(tgt_attitude) * 100.0f);
dwell_freq = chirp_input.get_frequency_rads();
float tgt_att_limited = tgt_attitude;
if (is_positive(dwell_freq)) {
float tgt_att_temp = tgt_attitude;
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Why do we need the extra variable?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@lthall I think it is needed to hold the rate limited attitude. If the rate limit is not set then it will skip setting tgt_att_temp variable. I guess I could just use the tgt_att_limited variable throughout and keep setting it from the MIN function.

if (is_positive(rate_max)) {
float ang_limit_rate = radians(rate_max) / dwell_freq;
tgt_att_temp = MIN(ang_limit_rate, tgt_attitude);
}
if (is_positive(accel_max)) {
float ang_limit_accel = radians(accel_max) / sq(dwell_freq);
tgt_att_limited = MIN(ang_limit_accel, tgt_att_temp);
} else {
tgt_att_limited = tgt_att_temp;
}
}
target_angle_cd = -chirp_input.update((now - dwell_start_time_ms) * 0.001, degrees(tgt_att_limited) * 100.0f);
dwell_freq = chirp_input.get_frequency_rads();
const Vector2f att_fdbk {
-5730.0f * vel_hold_gain * velocity_bf.y,
Expand Down
Loading