mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
Make the autotune UI allow recomputing the values based on the measured system
properties.
This commit is contained in:
James Cotton
parent
2ccd6605a4
commit
c3df203d7c
@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>443</width>
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<height>560</height>
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<height>575</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -26,68 +26,52 @@
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<string>Tuning Aggressiveness</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="1" column="0">
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<item row="0" column="0">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Rate Tuning:</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSlider" name="rateTuning">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>obj1name:RelayTuningSettings</string>
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<string>fieldname:RateGain</string>
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<string>scale:0.01</string>
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<string>haslimits:yes</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="1" column="0">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Attitude Tuning:</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSlider" name="attitudeTuning">
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<item row="0" column="1">
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<widget class="QSlider" name="rateTuning">
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>obj1name:RelayTuningSettings</string>
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<string>fieldname:AttitudeGain</string>
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<string>elemescale:0.01</string>
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<string>haslimits:yes</string>
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<string>objname:RelayTuningSettings</string>
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<string>fieldname:RateGain</string>
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<string>scale:0.01</string>
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<string>haslimits:no</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QLabel" name="label_21">
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<property name="text">
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<string>StepSize</string>
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<item row="1" column="1">
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<widget class="QSlider" name="attitudeTuning">
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<property name="maximum">
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<number>100</number>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QSlider" name="stepSizeSlider">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>obj1name:RelatyTuningSettings</string>
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<string>fieldname:Amplitude</string>
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<string>objname:RelayTuningSettings</string>
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<string>fieldname:AttitudeGain</string>
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<string>scale:0.01</string>
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<string>haslimits:yes</string>
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<string>haslimits:no</string>
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</stringlist>
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</property>
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</widget>
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@ -232,13 +216,33 @@
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Period</string>
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<string>element:Roll</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="measuredRollAmplitude">
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<widget class="QLabel" name="measuredRollGain">
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Gain</string>
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<string>element:Roll</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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@ -251,7 +255,7 @@
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<item row="0" column="2">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Amplitude (deg/s)</string>
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<string>Gain (deg/s) / output</string>
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</property>
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</widget>
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</item>
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@ -267,13 +271,33 @@
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Period</string>
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<string>element:Pitch</string>
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</stringlist>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="measuredPitchPeriod_2">
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<widget class="QLabel" name="measuredPitchGain">
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<property name="text">
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<string>0</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuning</string>
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<string>fieldname:Gain</string>
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<string>element:Pitch</string>
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</stringlist>
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</property>
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</widget>
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</item>
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</layout>
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@ -989,14 +1013,69 @@ will alter thingsfor the next autotuning flight</string>
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<widget class="QPushButton" name="useComputedValues">
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<property name="geometry">
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<rect>
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<x>270</x>
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<x>250</x>
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<y>380</y>
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<width>161</width>
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<height>24</height>
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<width>171</width>
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<height>31</height>
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</rect>
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</property>
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<property name="styleSheet">
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<string notr="true">QPushButton {
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border: 1px outset #999;
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border-radius: 5;
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background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
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}
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QPushButton:pressed {
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border-style: inset;
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background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
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}
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QPushButton:hover {
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border: 1px outset #999;
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border-color: rgb(83, 83, 83);
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border-radius: 4;
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}</string>
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</property>
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<property name="text">
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<string>Apply Computed Values</string>
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</property>
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</widget>
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<widget class="QLabel" name="label_21">
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<property name="geometry">
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<rect>
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<x>40</x>
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<y>410</y>
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<width>104</width>
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<height>20</height>
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</rect>
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</property>
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<property name="text">
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<string>Use Computed Values</string>
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<string>Step Size</string>
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</property>
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</widget>
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<widget class="QSlider" name="stepSizeSlider">
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<property name="geometry">
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<rect>
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<x>149</x>
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<y>410</y>
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<width>266</width>
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<height>20</height>
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</rect>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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<string>objname:RelayTuningSettings</string>
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<string>fieldname:Amplitude</string>
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<string>scale:0.01</string>
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<string>haslimits:no</string>
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</stringlist>
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</property>
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</widget>
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</widget>
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@ -10,6 +10,9 @@
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#include <QDesktopServices>
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#include <QUrl>
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#include <QList>
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#include "relaytuningsettings.h"
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#include "relaytuning.h"
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#include "stabilizationsettings.h"
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ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
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ConfigTaskWidget(parent)
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@ -17,9 +20,117 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
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m_autotune = new Ui_AutotuneWidget();
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m_autotune->setupUi(this);
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// Connect automatic signals
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autoLoadWidgets();
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disableMouseWheelEvents();
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// Whenever any value changes compute new potential stabilization settings
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connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
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connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
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RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
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Q_ASSERT(relayTuning);
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if(relayTuning)
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connect(relayTuning, SIGNAL(updateRequested(UAVObject*)), this, SLOT(recomputeStabilization()));
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// Connect the apply button for the stabilization settings
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connect(m_autotune->useComputedValues, SIGNAL(pressed()), this, SLOT(saveStabilization()));
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}
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/**
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* Apply the stabilization settings computed
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*/
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void ConfigAutotuneWidget::saveStabilization()
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{
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StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
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Q_ASSERT(stabilizationSettings);
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if(!stabilizationSettings)
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return;
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// Make sure to recompute in case the other stab settings changed since
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// the last time
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recomputeStabilization();
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// Apply this data to the board
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stabilizationSettings->setData(stabSettings);
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stabilizationSettings->updated();
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}
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/**
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* Called whenever the gain ratios or measured values
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* are changed
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*/
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void ConfigAutotuneWidget::recomputeStabilization()
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{
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RelayTuningSettings *relayTuningSettings = RelayTuningSettings::GetInstance(getObjectManager());
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Q_ASSERT(relayTuningSettings);
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if (!relayTuningSettings)
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return;
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RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
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Q_ASSERT(relayTuning);
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if(!relayTuning)
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return;
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StabilizationSettings *stabilizationSettings = StabilizationSettings::GetInstance(getObjectManager());
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Q_ASSERT(stabilizationSettings);
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if(!stabilizationSettings)
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return;
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RelayTuning::DataFields relayTuningData = relayTuning->getData();
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RelayTuningSettings::DataFields tuningSettingsData = relayTuningSettings->getData();
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stabSettings = stabilizationSettings->getData();
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// Need to divide these by 100 because that is what the .ui file does
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// to get the UAVO
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const double gain_ratio_r = m_autotune->rateTuning->value() / 100.0;
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const double zero_ratio_r = m_autotune->rateTuning->value() / 100.0;
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const double gain_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
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const double zero_ratio_p = m_autotune->attitudeTuning->value() / 100.0;
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// For now just run over roll and pitch
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for (int i = 0; i < 2; i++) {
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if (relayTuningData.Period[i] == 0 || relayTuningData.Gain[i] == 0)
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continue;
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double wu = 1000.0 * 2 * M_PI / relayTuningData.Period[i]; // ultimate freq = output osc freq (rad/s)
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double wc = wu * gain_ratio_r; // target openloop crossover frequency (rad/s)
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double zc = wc * zero_ratio_r; // controller zero location (rad/s)
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double kpu = 4.0f / M_PI / relayTuningData.Gain[i]; // ultimate gain, i.e. the proportional gain for instablity
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double kp = kpu * gain_ratio_r; // proportional gain
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double ki = zc * kp; // integral gain
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// Now calculate gains for the next loop out knowing it is the integral of
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// the inner loop -- the plant is position/velocity = scale*1/s
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double wc2 = wc * gain_ratio_p; // crossover of the attitude loop
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double kp2 = wc2; // kp of attitude
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double ki2 = wc2 * zero_ratio_p * kp2; // ki of attitude
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switch(i) {
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case 0: // Roll
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stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = kp;
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stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = ki;
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stabSettings.RollPI[StabilizationSettings::ROLLPI_KP] = kp2;
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stabSettings.RollPI[StabilizationSettings::ROLLPI_KI] = ki2;
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break;
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case 1: // Pitch
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stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = kp;
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stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = ki;
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stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP] = kp2;
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stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI] = ki2;
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break;
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}
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}
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// Display these computed settings
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m_autotune->rollRateKp->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]));
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m_autotune->rollRateKi->setText(QString().number(stabSettings.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]));
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m_autotune->rollAttitudeKp->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KP]));
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m_autotune->rollAttitudeKi->setText(QString().number(stabSettings.RollPI[StabilizationSettings::ROLLPI_KI]));
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m_autotune->pitchRateKp->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]));
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m_autotune->pitchRateKi->setText(QString().number(stabSettings.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]));
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m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
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m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
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}
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@ -46,10 +46,15 @@ public:
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private:
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Ui_AutotuneWidget *m_autotune;
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StabilizationSettings::DataFields stabSettings;
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signals:
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public slots:
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private slots:
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void recomputeStabilization();
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void saveStabilization();
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};
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#endif // CONFIGAUTOTUNE_H
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