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AC_AutoTune: More extracted autotune cleanups from larger cleanup #27384

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Jun 27, 2024
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AC_AutoTune: More extracted autotune cleanups from larger cleanup #27384

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6 changes: 3 additions & 3 deletions libraries/AC_AutoTune/AC_AutoTune.h
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ class AC_AutoTune
enum StepType {
WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch
TESTING = 1, // autotune has begun a test and is watching the resulting vehicle movement
UPDATE_GAINS = 2 // autotune has completed a test and is updating the gains based on the results
UPDATE_GAINS = 2, // autotune has completed a test and is updating the gains based on the results
};

// mini steps performed while in Tuning mode, Testing step
Expand Down Expand Up @@ -272,13 +272,13 @@ class AC_AutoTune
int8_t counter; // counter for tuning gains
float target_rate; // target rate-multi only
float target_angle; // target angle-multi only
float start_rate; // start rate - parent and multi
float start_angle; // start angle
float start_rate; // start rate - parent and multi
float rate_max; // maximum rate variable - parent and multi
float test_accel_max; // maximum acceleration variable
float step_scaler; // scaler to reduce maximum target step - parent and multi
float angle_finish; // Angle that test is aborted- parent and multi
float desired_yaw_cd; // yaw heading during tune - parent and Tradheli
float step_scaler; // scaler to reduce maximum target step - parent and multi

LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second

Expand Down
16 changes: 8 additions & 8 deletions libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
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Expand Up @@ -1189,17 +1189,17 @@ void AC_AutoTune_Multi::twitch_test_init()
float target_max_rate;
switch (axis) {
case ROLL: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz()*2.0f);
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_roll_pid().filt_D_hz() * 2.0);
break;
}
case PITCH: {
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz()*2.0f);
target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler * AUTOTUNE_TARGET_RATE_RLLPIT_CDS);
target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch()) * 100.0, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate);
target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch()) * 100.0, target_angle_min_rp_cd(), target_angle_max_rp_cd());
rotation_rate_filt.set_cutoff_frequency(attitude_control->get_rate_pitch_pid().filt_D_hz() * 2.0);
break;
}
case YAW:
Expand Down
6 changes: 3 additions & 3 deletions libraries/AC_AutoTune/AC_AutoTune_Multi.h
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Expand Up @@ -182,9 +182,9 @@ class AC_AutoTune_Multi : public AC_AutoTune
void report_axis_gains(const char* axis_string, float rate_P, float rate_I, float rate_D, float angle_P, float max_accel) const;

// parameters
AP_Int8 axis_bitmask; // axes to be tuned
AP_Float aggressiveness; // aircraft response aggressiveness to be tuned
AP_Float min_d; // minimum rate d gain allowed during tuning
AP_Int8 axis_bitmask; // axes to be tuned
AP_Float aggressiveness; // aircraft response aggressiveness to be tuned
AP_Float min_d; // minimum rate d gain allowed during tuning
};

#endif // AC_AUTOTUNE_ENABLED
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