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Make G-Tune more configurable 

- add two new CLI paramaters "gtune_settle_time" and
"gtune_average_cycles"
- the settle time is not depending on looptime anymore
- updated default setting to cover e wider range of copters
- remove lower limit for P value for CLI (Zero P is now posible, but
schould be used with care)
- Documentation updates
This commit is contained in:
Michael Jakob 2015-05-04 14:06:09 +02:00
parent ef5887856d
commit 53531224be
5 changed files with 52 additions and 35 deletions
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23
docs/Gtune.md
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@ -14,7 +14,7 @@ When flying in Acro mode (yaw tune in other modes possible as well - see below)
It will start tuning the wanted / possible axes (see below) in a predefined range (see below).
After activation you will probably notice nothing! That means G-Tune will not start shaking your copter, you will have to do it (or simply fly and let it work).
The G-Tune is based on the gyro error so it is only active when you give no RC input (that would be an additional error). So if you just roll only pitch
and yaw are tuned. If you stop rolling G-Tune will wait ca. 400ms to let the axis settle and then start tuning that axis again. All axes are treated independently.
and yaw are tuned. If you stop rolling G-Tune will wait ca. 450ms to let the axis settle and then start tuning that axis again. All axes are treated independently.
The easiest way to tune all axes at once is to do some air-jumps with the copter in Acro (RC centered and G-Tune activated... of course..).
You can set a too high P for the axes as default in the GUI, when the copter starts shaking the wobbles will be detected and P tuned down (be careful with the strength setting though - see below).
Yaw tune is disabled in any copter with less than 4 motors (like tricopters).
@ -24,17 +24,18 @@ TPA and G-Tune: It is not tested and will most likely not result into something
## Parameters and their function:
gtune_loP_rll = 20 [10..200] Lower limit of ROLL P during G-Tune. Note "20" means "2.0" in the GUI.
gtune_loP_ptch = 20 [10..200] Lower limit of PITCH P during G-Tune. Note "20" means "2.0" in the GUI.
gtune_loP_yw = 20 [10..200] Lower limit of YAW P during G-Tune. Note "20" means "2.0" in the GUI.
gtune_hiP_rll = 70 [0..200] Higher limit of ROLL P during G-Tune. 0 Disables tuning for that axis. Note "70" means "7.0" in the GUI.
gtune_hiP_ptch = 70 [0..200] Higher limit of PITCH P during G-Tune. 0 Disables tuning for that axis. Note "70" means "7.0" in the GUI.
gtune_hiP_yw = 70 [0..200] Higher limit of YAW P during G-Tune. 0 Disables tuning for that axis. Note "70" means "7.0" in the GUI.
gtune_pwr = 0 [0..10] Strength of adjustment
gtune_loP_rll = 10 [0..200] Lower limit of ROLL P during G-Tune. Note "10" means "1.0" in the GUI.
gtune_loP_ptch = 10 [0..200] Lower limit of PITCH P during G-Tune. Note "10" means "1.0" in the GUI.
gtune_loP_yw = 10 [0..200] Lower limit of YAW P during G-Tune. Note "10" means "1.0" in the GUI.
gtune_hiP_rll = 100 [0..200] Higher limit of ROLL P during G-Tune. 0 Disables tuning for that axis. Note "100" means "10.0" in the GUI.
gtune_hiP_ptch = 100 [0..200] Higher limit of PITCH P during G-Tune. 0 Disables tuning for that axis. Note "100" means "10.0" in the GUI.
gtune_hiP_yw = 100 [0..200] Higher limit of YAW P during G-Tune. 0 Disables tuning for that axis. Note "100" means "10.0" in the GUI.
gtune_pwr = 0 [0..10] Strength of adjustment
gtune_settle_time = 450 [200..1000] Settle time in ms
gtune_average_cycles = 16 [8..128] Number of looptime cycles used for gyro average calcullation
So you have lower and higher limits for each P for every axis. The preset range (GUI: 2.0 - 7.0) is quiet broad to represent most setups.
If you want tighter ranges change them here. The gtune_loP_XXX can not be lower than "10" that means a P of "1.0" in the GUI. So you can not have "Zero P",
you are in maybe sluggish initial control.
So you have lower and higher limits for each P for every axis. The preset range (GUI: 1.0 - 10.0) is quiet broad to represent most setups.
If you want tighter or more loose ranges change them here. gtune_loP_XXX can be configured lower than "10" that means a P of "1.0" in the GUI. So you can have "Zero P" but you may get sluggish initial control.
If you want to exclude one axis from the tuning you must set gtune_hiP_XXX to zero. Let's say you want to disable yaw tuning write in CLI
"set gtune_hiP_yw = 0". Note: The MultiWii Wiki advises you to trim the yaw axis on your transmitter. If you have done so (yaw not neutral on your RC)
yaw tuning will be disabled.

14
src/main/config/config.c
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@ -192,13 +192,15 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pid5_maincuthz = 12;
#ifdef GTUNE
pidProfile->gtune_lolimP[ROLL] = 20; // [10..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 20; // [10..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 20; // [10..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 70; // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[PITCH] = 70; // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[YAW] = 70; // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 10; // [0..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 10; // [0..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 100; // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[PITCH] = 100; // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_hilimP[YAW] = 100; // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
pidProfile->gtune_pwr = 0; // [0..10] Strength of adjustment
pidProfile->gtune_settle_time = 450; // [200..1000] Settle time in ms
pidProfile->gtune_average_cycles = 16; // [8..128] Number of looptime cycles used for gyro average calculation
#endif
}

40
src/main/flight/gtune.c
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@ -44,6 +44,7 @@
#include "config/runtime_config.h"
extern uint16_t cycleTime;
extern uint8_t motorCount;
/*
@ -77,21 +78,29 @@ extern uint8_t motorCount;
Gyrosetting 2000DPS
GyroScale = (1 / 16,4 ) * RADX(see board.h) = 0,001064225154 digit per rad/s
pidProfile->gtune_lolimP[ROLL] = 20; [10..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 20; [10..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 20; [10..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 70; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[PITCH] = 70; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[YAW] = 70; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_pwr = 0; [0..10] Strength of adjustment
pidProfile->gtune_lolimP[ROLL] = 10; [0..200] Lower limit of ROLL P during G tune.
pidProfile->gtune_lolimP[PITCH] = 10; [0..200] Lower limit of PITCH P during G tune.
pidProfile->gtune_lolimP[YAW] = 10; [0..200] Lower limit of YAW P during G tune.
pidProfile->gtune_hilimP[ROLL] = 100; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[PITCH] = 100; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_hilimP[YAW] = 100; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
pidProfile->gtune_pwr = 0; [0..10] Strength of adjustment
pidProfile->gtune_settle_time = 450; [200..1000] Settle time in ms
pidProfile->gtune_average_cycles = 16; [8..128] Number of looptime cycles used for gyro average calculation
*/
static pidProfile_t *pidProfile;
static int8_t time_skip[3];
static int16_t delay_cycles;
static int16_t time_skip[3];
static int16_t OldError[3], result_P64[3];
static int32_t AvgGyro[3];
static bool floatPID;
void updateDelayCycles(void)
{
delay_cycles = -(((int32_t)pidProfile->gtune_settle_time * 1000) / cycleTime);
}
void init_Gtune(pidProfile_t *pidProfileToTune)
{
uint8_t i;
@ -99,9 +108,10 @@ void init_Gtune(pidProfile_t *pidProfileToTune)
pidProfile = pidProfileToTune;
if (pidProfile->pidController == 2) floatPID = true; // LuxFloat is using float values for PID settings
else floatPID = false;
updateDelayCycles();
for (i = 0; i < 3; i++) {
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || // User config error disable axisis for tuning
(motorCount < 4 && i == FD_YAW)) pidProfile->gtune_hilimP[i] = 0; // Disable Yawtuning for everything below a quadcopter
(motorCount < 4 && i == FD_YAW)) pidProfile->gtune_hilimP[i] = 0; // Disable yawtuning for everything below a quadcopter
if (floatPID) {
if((pidProfile->P_f[i] * 10) < pidProfile->gtune_lolimP[i]) pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10);
result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P.
@ -110,7 +120,7 @@ void init_Gtune(pidProfile_t *pidProfileToTune)
result_P64[i] = (int16_t)pidProfile->P8[i] << 6; // 6 bit extra resolution for P.
}
OldError[i] = 0;
time_skip[i] = -125;
time_skip[i] = delay_cycles;
}
}
@ -118,9 +128,9 @@ void calculate_Gtune(uint8_t axis)
{
int16_t error, diff_G, threshP;
if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) { // Block Tuning on stickinput. Always allow Gtune on YAW, Roll & Pitch only in acromode
if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) { // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
OldError[axis] = 0;
time_skip[axis] = -125; // Some settletime after stick center. (125 + 16)* 3ms clycle = 423ms (ca.)
time_skip[axis] = delay_cycles; // Some settle time after stick center. default 450ms
} else {
if (!time_skip[axis]) AvgGyro[axis] = 0;
time_skip[axis]++;
@ -128,7 +138,7 @@ void calculate_Gtune(uint8_t axis)
if (axis == FD_YAW) AvgGyro[axis] += 32 * ((int16_t)gyroData[axis] / 32); // Chop some jitter and average
else AvgGyro[axis] += 128 * ((int16_t)gyroData[axis] / 128); // Chop some jitter and average
}
if (time_skip[axis] == 16) { // ca 48 ms
if (time_skip[axis] == pidProfile->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16.
AvgGyro[axis] /= time_skip[axis]; // AvgGyro[axis] has now very clean gyrodata
time_skip[axis] = 0;
if (axis == FD_YAW) {
@ -166,8 +176,8 @@ void calculate_Gtune(uint8_t axis)
}
#endif
if (floatPID) pidProfile->P_f[axis] = (float)(newP / 10); // new P value for float PID
else pidProfile->P8[axis] = newP; // new P value
if (floatPID) pidProfile->P_f[axis] = (float)(newP / 10); // new P value for float PID
else pidProfile->P8[axis] = newP; // new P value
}
OldError[axis] = error;
}

6
src/main/flight/pid.h
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@ -70,9 +70,11 @@ typedef struct pidProfile_s {
uint8_t pid5_oldyw; // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [10..200] Lower limit of P during G tune
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
int8_t gtune_pwr; // [0..10] Strength of adjustment
uint8_t gtune_pwr; // [0..10] Strength of adjustment
uint16_t gtune_settle_time; // [200..1000] Settle time in ms
uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
#endif
} pidProfile_t;

4
src/main/io/serial_cli.c
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@ -524,7 +524,9 @@ const clivalue_t valueTable[] = {
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], 0, 200 },
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], 0, 200 },
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], 0, 200 },
{ "gtune_pwr", VAR_INT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, 0, 10 },
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, 0, 10 },
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, 200, 1000 },
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, 8, 128 },
#endif
#ifdef BLACKBOX