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Merged in LP-56_split_acroplus_factors (pull request #2)

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LP-56 split acroplus factors
This commit is contained in:
alessio morale 2015-07-31 14:34:42 +02:00
commit 582ed4297c
10 changed files with 187 additions and 21 deletions
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8
flight/modules/Stabilization/innerloop.c
View File

@ -10,6 +10,7 @@
*
* @file innerloop.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
@ -301,10 +302,15 @@ static void stabilizationInnerloopTask()
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
const float acroFactors[] = {
stabSettings.stabBank.AcroInsanityFactor.Roll,
stabSettings.stabBank.AcroInsanityFactor.Pitch,
stabSettings.stabBank.AcroInsanityFactor.Yaw
};
pid_scaler ascaler = create_pid_scaler(t);
ascaler.i *= boundf(1.0f - (1.5f * fabsf(stickinput[t])), 0.0f, 1.0f); // this prevents Integral from getting too high while controlled manually
float arate = pid_apply_setpoint(&stabSettings.innerPids[t], &ascaler, rate[t], gyro_filtered[t], dT);
float factor = fabsf(stickinput[t]) * stabSettings.stabBank.AcroInsanityFactor;
float factor = fabsf(stickinput[t]) * acroFactors[t];
actuatorDesiredAxis[t] = factor * stickinput[t] + (1.0f - factor) * arate;
}
break;

12
flight/modules/TxPID/txpid.c
View File

@ -9,6 +9,7 @@
*
* @file txpid.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @brief Optional module to tune PID settings using R/C transmitter.
*
* @see The GNU Public License (GPL) Version 3
@ -382,8 +383,15 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdateStab |= update(&stab.GyroTau, value);
break;
case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
break;
case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor.Roll, value);
needsUpdateBank |= update(&bank.AcroInsanityFactor.Pitch, value);
break;
case TXPIDSETTINGS_PIDS_ACCELTAU:
needsUpdateAtt |= update(&att.AccelTau, value);

13
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -2,6 +2,7 @@
******************************************************************************
*
* @file configstabilizationwidget.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
@ -91,6 +92,9 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
connect(ui->checkBox_3, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->checkBox_3);
connect(ui->checkBoxLinkAcroFactors, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
addWidget(ui->checkBoxLinkAcroFactors);
addWidget(ui->pushButton_2);
addWidget(ui->pushButton_3);
addWidget(ui->pushButton_4);
@ -568,6 +572,8 @@ void ConfigStabilizationWidget::linkCheckBoxes(bool value)
ui->basicResponsivenessCheckBox->setChecked(!value);
ui->basicResponsivenessControls->setEnabled(!value);
ui->advancedResponsivenessControls->setEnabled(value);
} else if(sender() == ui->checkBoxLinkAcroFactors) {
processLinkedWidgets(ui->AcroFactorRollSlider);
}
}
@ -608,6 +614,13 @@ void ConfigStabilizationWidget::processLinkedWidgets(QWidget *widget)
ui->ratePitchKi_4->setValue(ui->RateResponsivenessSlider->value());
}
}
if (ui->checkBoxLinkAcroFactors->isChecked()) {
if (widget == ui->AcroFactorRollSlider) {
ui->AcroFactorPitchSlider->setValue(ui->AcroFactorRollSlider->value());
} else if (widget == ui->AcroFactorPitchSlider) {
ui->AcroFactorRollSlider->setValue(ui->AcroFactorPitchSlider->value());
}
}
}
void ConfigStabilizationWidget::onBoardConnected()

17
ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
View File

@ -3,6 +3,7 @@
*
* @file configtxpidswidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -162,7 +163,15 @@ static bool isExpoOption(int pidOption)
static bool isAcroPlusFactorOption(int pidOption)
{
return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTOR;
switch (pidOption) {
case TxPIDSettings::PIDS_ACROPITCHFACTOR:
case TxPIDSettings::PIDS_ACROROLLFACTOR:
case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
return true;
default:
return false;
}
}
template <class StabilizationSettingsBankX>
@ -291,7 +300,11 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
case TxPIDSettings::PIDS_YAWEXPO:
return bank->getStickExpo_Yaw();
case TxPIDSettings::PIDS_ACROROLLFACTOR:
case TxPIDSettings::PIDS_ACROROLLPITCHFACTOR:
return bank->getAcroInsanityFactor_Roll();
case TxPIDSettings::PIDS_ACROPITCHFACTOR:
return bank->getAcroInsanityFactor_Pitch();
case -1: // The PID Option field was uninitialized.
return 0.0f;

138
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -195,6 +195,29 @@ margin-top: -1px;
<string>Acro+</string>
</property>
<layout class="QGridLayout" name="gridLayout_26">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBoxLinkAcroFactors">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Link roll &amp;amp; pitch sliders to move together&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_21">
<property name="sizePolicy">
@ -241,7 +264,7 @@ margin-top: -1px;
<number>0</number>
</property>
<item row="1" column="1">
<widget class="QSlider" name="AttitudeResponsivenessSlider_2">
<widget class="QSlider" name="AcroFactorRollSlider">
<property name="minimumSize">
<size>
<width>0</width>
@ -278,12 +301,13 @@ margin-top: -1px;
<string>fieldname:AcroInsanityFactor</string>
<string>scale:0.01</string>
<string>buttongroup:77</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_3">
<widget class="QSpinBox" name="AcroFactorRollSpinBox">
<property name="minimumSize">
<size>
<width>60</width>
@ -311,12 +335,13 @@ margin-top: -1px;
<string>fieldname:AcroInsanityFactor</string>
<string>scale:0.01</string>
<string>buttongroup:77</string>
<string>element:Roll</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_13">
<widget class="QLabel" name="AcroFactorRollLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@ -330,7 +355,106 @@ margin-top: -1px;
</size>
</property>
<property name="text">
<string>Factor</string>
<string>Roll Factor</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSlider" name="AcroFactorPitchSlider">
<property name="minimumSize">
<size>
<width>0</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The Acro + slider can be adjusted to change the amount of manual control blending.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:AcroInsanityFactor</string>
<string>scale:0.01</string>
<string>buttongroup:77</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="AcroFactorPitchSpinBox">
<property name="minimumSize">
<size>
<width>60</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>60</width>
<height>22</height>
</size>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettingsBankX</string>
<string>fieldname:AcroInsanityFactor</string>
<string>scale:0.01</string>
<string>buttongroup:77</string>
<string>element:Pitch</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="AcroFactorPitchLabel_13">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>Pitch Factor</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -27298,8 +27422,10 @@ Useful if you have accidentally changed some settings.</string>
<tabstop>RateYawResponsivenessSlider</tabstop>
<tabstop>spinBox_5</tabstop>
<tabstop>pushButton_21</tabstop>
<tabstop>AttitudeResponsivenessSlider_2</tabstop>
<tabstop>spinBox_3</tabstop>
<tabstop>AcroFactorRollSlider</tabstop>
<tabstop>AcroFactorRollSpinBox</tabstop>
<tabstop>AcroFactorPitchSlider</tabstop>
<tabstop>AcroFactorPitchSpinBox</tabstop>
<tabstop>pushButton_12</tabstop>
<tabstop>RateYawResponsivenessSlider_2</tabstop>
<tabstop>expoSpinnerRoll</tabstop>

2
shared/uavobjectdefinition/stabilizationbank.xml
View File

@ -16,7 +16,7 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit"/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -16,7 +16,7 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -16,7 +16,7 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

2
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -16,7 +16,7 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="AcroInsanityFactor" units="percent" type="float" elements="1" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="AcroInsanityFactor" units="percent" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.4" limits="%BE:0.0:1.0"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

2
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -20,7 +20,7 @@
Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
GyroTau,Acro+ Roll Factor,Acro+ Pitch Factor,Acro+ Roll+Pitch Factor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
AccelTau, AccelKp, AccelKi"
defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>