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AC_AutoTune: use attitude controller to enforce rate and accel limits
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@bnsgeyer
bnsgeyer committed Jun 11, 2024
1 parent 725a28a commit 58270ce
Showing 1 changed file with 26 additions and 57 deletions.
83 changes: 26 additions & 57 deletions libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,9 +147,7 @@ void AC_AutoTune_Heli::test_init()
filter_freq = start_freq;

attitude_control->bf_feedforward(false);
attitude_control->use_sqrt_controller(false);
// attitude_control->use_sqrt_controller(true); // invoke rate and acceleration limits to provide square wave rate response.
// freq_resp_amplitude = 10.0f; // increase amplitude with limited rate to get desired square wave rate response

// variables needed to initialize frequency response object and test method
resp_type = AC_AutoTune_FreqResp::ResponseType::RATE;
calc_type = RATE;
Expand All @@ -171,7 +169,6 @@ void AC_AutoTune_Heli::test_init()
filter_freq = start_freq;

attitude_control->bf_feedforward(false);
attitude_control->use_sqrt_controller(false);

// variables needed to initialize frequency response object and test method
resp_type = AC_AutoTune_FreqResp::ResponseType::RATE;
Expand Down Expand Up @@ -201,7 +198,6 @@ void AC_AutoTune_Heli::test_init()
filter_freq = start_freq;

attitude_control->bf_feedforward(false);
attitude_control->use_sqrt_controller(false);

// variables needed to initialize frequency response object and test method
resp_type = AC_AutoTune_FreqResp::ResponseType::RATE;
Expand All @@ -223,7 +219,6 @@ void AC_AutoTune_Heli::test_init()
}
filter_freq = start_freq;
attitude_control->bf_feedforward(false);
attitude_control->use_sqrt_controller(false);

// variables needed to initialize frequency response object and test method
resp_type = AC_AutoTune_FreqResp::ResponseType::ANGLE;
Expand Down Expand Up @@ -522,18 +517,17 @@ void AC_AutoTune_Heli::load_test_gains()
float rate_p, rate_i, rate_d, rate_test_max, accel_test_max;
switch (axis) {
case ROLL:
rate_test_max = orig_roll_rate;
accel_test_max = tune_roll_accel;

if (tune_type == TUNE_CHECK) {
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;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_roll_rff*AUTOTUNE_FFI_RATIO_FINAL;
// have attitude controller use rate limit if non-zero
if (is_positive(rate_max)) {
rate_test_max = rate_max;
}
// have attitude controller use accel limit if non-zero
if (is_positive(accel_max)) {
accel_test_max = accel_max;
}
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_roll_ri;
Expand All @@ -548,18 +542,16 @@ void AC_AutoTune_Heli::load_test_gains()
load_gain_set(ROLL, rate_p, rate_i, rate_d, tune_roll_rff, tune_roll_sp, accel_test_max, orig_roll_fltt, 0.0f, 0.0f, rate_test_max);
break;
case PITCH:
rate_test_max = orig_pitch_rate;
accel_test_max = tune_pitch_accel;
if (tune_type == TUNE_CHECK) {
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;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_pitch_rff*AUTOTUNE_FFI_RATIO_FINAL;
// have attitude controller use rate limit if non-zero
if (is_positive(rate_max)) {
rate_test_max = rate_max;
}
// have attitude controller use accel limit if non-zero
if (is_positive(accel_max)) {
accel_test_max = accel_max;
}
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_pitch_ri;
Expand All @@ -575,18 +567,16 @@ void AC_AutoTune_Heli::load_test_gains()
break;
case YAW:
case YAW_D:
rate_test_max = orig_yaw_rate;
accel_test_max = tune_yaw_accel;
if (tune_type == TUNE_CHECK) {
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;
}
if (tune_type == SP_UP || tune_type == TUNE_CHECK) {
rate_i = tune_yaw_rp*AUTOTUNE_YAW_PI_RATIO_FINAL;
// have attitude controller use rate limit if non-zero
if (is_positive(rate_max)) {
rate_test_max = rate_max;
}
// have attitude controller use accel limit if non-zero
if (is_positive(accel_max)) {
accel_test_max = accel_max;
}
} else {
// freeze integrator to hold trim by making i term small during rate controller tuning
rate_i = 0.01f * orig_yaw_ri;
Expand Down Expand Up @@ -819,27 +809,6 @@ 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, tgt_attitude * 5730.0f);
dwell_freq = chirp_input.get_frequency_rads();
// limit requested angle based on calculated max accel and max rate if non zero parameters are set
if (test_calc_type == RATE) {
// apply rate limit for RFF, RP_UP and RD_UP test types
float peak_rate = dwell_freq * tgt_attitude;
float peak_accel = sq(dwell_freq) * tgt_attitude;
float rate_knockdown = 1.0f;
float accel_knockdown = 1.0f;
// reduce target angle by ratio of peak rate to max rate
if (is_positive(rate_max) && peak_rate > rate_max) {
rate_knockdown = rate_max / peak_rate;
}
// reduce target angle by ratio of peak accel to max accel
if (is_positive(accel_max) && peak_accel > accel_max) {
accel_knockdown = accel_max / peak_accel;
}
if (rate_knockdown < accel_knockdown) {
target_angle_cd *= rate_knockdown;
} else if (accel_knockdown < rate_knockdown) {
target_angle_cd *= accel_knockdown;
}
}
const Vector2f att_fdbk {
-5730.0f * vel_hold_gain * velocity_bf.y,
5730.0f * vel_hold_gain * velocity_bf.x
Expand Down

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