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Merge pull request #7461 from iNavFlight/avs-no-p-i-autotune

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Don't change P, I and D during FW autotune
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Alexander van Saase 2021-11-12 15:38:30 +01:00 • committed by GitHub
commit 67bc9c48fa
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3 changed files with 0 additions and 70 deletions
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30
docs/Settings.md
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@ -1142,26 +1142,6 @@ D-Series telemetry only: Set to 1 to send raw VBat value in 0.1V resolution for
---
### fw_autotune_ff_to_i_tc
FF to I time (defines time for I to reach the same level of response as FF) [ms]
| Default | Min | Max |
| --- | --- | --- |
| 600 | 100 | 5000 |
---
### fw_autotune_ff_to_p_gain
FF to P gain (strength relationship) [%]
| Default | Min | Max |
| --- | --- | --- |
| 10 | 0 | 100 |
---
### fw_autotune_max_rate_deflection
The target percentage of maximum mixer output used for determining the rates in `AUTO` and `LIMIT`.
@ -1182,16 +1162,6 @@ Minimum stick input [%], after applying deadband and expo, to start recording th
---
### fw_autotune_p_to_d_gain
P to D gain (strength relationship) [%]
| Default | Min | Max |
| --- | --- | --- |
| 0 | 0 | 200 |
---
### fw_autotune_rate_adjustment
`AUTO` and `LIMIT` adjust the rates to match the capabilities of the airplane, with `LIMIT` they are never increased above the starting rates setting. `FIXED` does not adjust the rates. Rates are not changed when tuning in `ANGLE` mode.

18
src/main/fc/settings.yaml
View file

@ -2229,24 +2229,6 @@ groups:
field: fw_min_stick
min: 0
max: 100
- name: fw_autotune_ff_to_p_gain
description: "FF to P gain (strength relationship) [%]"
default_value: 10
field: fw_ff_to_p_gain
min: 0
max: 100
- name: fw_autotune_p_to_d_gain
description: "P to D gain (strength relationship) [%]"
default_value: 0
field: fw_p_to_d_gain
min: 0
max: 200
- name: fw_autotune_ff_to_i_tc
description: "FF to I time (defines time for I to reach the same level of response as FF) [ms]"
default_value: 600
field: fw_ff_to_i_time_constant
min: 100
max: 5000
- name: fw_autotune_rate_adjustment
description: "`AUTO` and `LIMIT` adjust the rates to match the capabilities of the airplane, with `LIMIT` they are never increased above the starting rates setting. `FIXED` does not adjust the rates. Rates are not changed when tuning in `ANGLE` mode."
default_value: "AUTO"

22
src/main/flight/pid_autotune.c
View file

@ -60,9 +60,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pidAutotuneConfig_t, pidAutotuneConfig, PG_PID_A
PG_RESET_TEMPLATE(pidAutotuneConfig_t, pidAutotuneConfig,
.fw_min_stick = SETTING_FW_AUTOTUNE_MIN_STICK_DEFAULT,
.fw_ff_to_p_gain = SETTING_FW_AUTOTUNE_FF_TO_P_GAIN_DEFAULT,
.fw_ff_to_i_time_constant = SETTING_FW_AUTOTUNE_FF_TO_I_TC_DEFAULT,
.fw_p_to_d_gain = SETTING_FW_AUTOTUNE_P_TO_D_GAIN_DEFAULT,
.fw_rate_adjustment = SETTING_FW_AUTOTUNE_RATE_ADJUSTMENT_DEFAULT,
.fw_max_rate_deflection = SETTING_FW_AUTOTUNE_MAX_RATE_DEFLECTION_DEFAULT,
);
@ -75,9 +72,6 @@ typedef enum {
} pidAutotuneState_e;
typedef struct {
float gainP;
float gainI;
float gainD;
float gainFF;
float rate;
float initialRate;
@ -98,9 +92,6 @@ static timeMs_t lastGainsUpdateTime;
void autotuneUpdateGains(pidAutotuneData_t * data)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
pidBankMutable()->pid[axis].P = lrintf(data[axis].gainP);
pidBankMutable()->pid[axis].I = lrintf(data[axis].gainI);
pidBankMutable()->pid[axis].D = lrintf(data[axis].gainD);
pidBankMutable()->pid[axis].FF = lrintf(data[axis].gainFF);
((controlRateConfig_t *)currentControlRateProfile)->stabilized.rates[axis] = lrintf(data[axis].rate/10.0f);
}
@ -124,9 +115,6 @@ void autotuneCheckUpdateGains(void)
void autotuneStart(void)
{
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
tuneCurrent[axis].gainP = pidBank()->pid[axis].P;
tuneCurrent[axis].gainI = pidBank()->pid[axis].I;
tuneCurrent[axis].gainD = pidBank()->pid[axis].D;
tuneCurrent[axis].gainFF = pidBank()->pid[axis].FF;
tuneCurrent[axis].rate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
tuneCurrent[axis].initialRate = currentControlRateProfile->stabilized.rates[axis] * 10.0f;
@ -246,16 +234,6 @@ void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRa
}
if (gainsUpdated) {
// Set P-gain to 10% of FF gain (quite agressive - FIXME)
tuneCurrent[axis].gainP = tuneCurrent[axis].gainFF * (pidAutotuneConfig()->fw_ff_to_p_gain / 100.0f);
tuneCurrent[axis].gainP = constrainf(tuneCurrent[axis].gainP, 1.0f, 20.0f);
// Set D-gain relative to P-gain (0 for now)
tuneCurrent[axis].gainD = tuneCurrent[axis].gainP * (pidAutotuneConfig()->fw_p_to_d_gain / 100.0f);
// Set integrator gain to reach the same response as FF gain in 0.667 second
tuneCurrent[axis].gainI = (tuneCurrent[axis].gainFF / FP_PID_RATE_FF_MULTIPLIER) * (1000.0f / pidAutotuneConfig()->fw_ff_to_i_time_constant) * FP_PID_RATE_I_MULTIPLIER;
tuneCurrent[axis].gainI = constrainf(tuneCurrent[axis].gainI, 2.0f, 30.0f);
autotuneUpdateGains(tuneCurrent);
switch (axis) {