AC_AutoTune: allow heli to have different angle limits than multi

lthall · Feb 27, 2024 · 685bf80 · 685bf80
1 parent 14bef1a
commit 685bf80
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Showing 6 changed files with 23 additions and 1 deletion.
diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -389,7 +389,7 @@ void AC_AutoTune::control_attitude()
         test_run(axis, direction_sign);
 
         // Check for failure causing reverse response
-        if (lean_angle <= -attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_SCALE) {
+        if (lean_angle <= -target_min_angle_rllpit_cd()) {
             step = WAITING_FOR_LEVEL;
             positive_direction = twitch_reverse_direction();
             step_start_time_ms = now;

diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -314,6 +314,9 @@ class AC_AutoTune
     // return true if we have a good position estimate
     virtual bool position_ok();
 
+    // methods subclasses must implement to specify max/min test angles:
+    virtual float target_min_angle_rllpit_cd() const = 0;
+
     // initialise position controller
     bool init_position_controller();
 

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -60,6 +60,11 @@
 #define AUTOTUNE_SEQ_BITMASK_MAX_GAIN        8
 #define AUTOTUNE_SEQ_BITMASK_TUNE_CHECK      16
 
+// angle limits preserved from previous behaviour as Multi changed:
+#define AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD 1000    // minimum target angle during TESTING_RATE step that will cause us to move to next step
+#define AUTOTUNE_TARGET_ANGLE_RLLPIT_CD     2000    // target angle during TESTING_RATE step that will cause us to move to next step
+#define AUTOTUNE_TARGET_ANGLE_YAW_CD        3000    // target angle during TESTING_RATE step that will cause us to move to next step
+
 const AP_Param::GroupInfo AC_AutoTune_Heli::var_info[] = {
 
     // @Param: AXES
@@ -1724,6 +1729,11 @@ void AC_AutoTune_Heli::updating_max_gains(float *freq, float *gain, float *phase
 
 }
 
+float AC_AutoTune_Heli::target_min_angle_rllpit_cd() const
+{
+    return AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD;
+}
+
 #if HAL_LOGGING_ENABLED
 // log autotune summary data
 void AC_AutoTune_Heli::Log_AutoTune()

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -156,6 +156,8 @@ class AC_AutoTune_Heli : public AC_AutoTune
         DRB     = 2,
     };
 
+    float target_min_angle_rllpit_cd() const override;
+
     // Feedforward test used to determine Rate FF gain
     void rate_ff_test_init();
     void rate_ff_test_run(float max_angle_cds, float target_rate_cds, float dir_sign);

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -1068,6 +1068,11 @@ void AC_AutoTune_Multi::Log_AutoTuneDetails()
     Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
 }
 
+float AC_AutoTune_Multi::target_min_angle_rllpit_cd() const
+{
+    return attitude_control->lean_angle_max_cd() * AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_SCALE;
+}
+
 // @LoggerMessage: ATUN
 // @Description: Copter/QuadPlane AutoTune
 // @Vehicles: Copter, Plane

diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
@@ -63,6 +63,8 @@ class AC_AutoTune_Multi : public AC_AutoTune
     // reset the update gain variables for multi
     void reset_update_gain_variables() override {};
 
+    float target_min_angle_rllpit_cd() const override;
+
     void test_init() override;
     void test_run(AxisType test_axis, const float dir_sign) override;