mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
OP-138 Feed forward tuning is now working. Watch out for stray props! For safety reasons, the FF tuning will only run if all three checkboxes are checked. Otherwise, follow the tooltips (or the new wiki).
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1957 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard
edouard
parent
bd8ad90301
commit
f2681ef2c4
@ -718,12 +718,19 @@ Typical value is 50% for + or X configuration on quads.</string>
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>When tuning: Slowly raise accel time from zero to just
|
||||
<string>In miliseconds.
|
||||
When tuning: Slowly raise accel time from zero to just
|
||||
under the level where the motor starts to overshoot
|
||||
its target speed.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -746,8 +753,14 @@ its target speed when decelerating.
|
||||
|
||||
Do it after accel time is setup.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@ -794,14 +807,17 @@ In 'units per second', a sound default is 1000.</string>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<item>
|
||||
<widget class="QComboBox" name="feedForwardTestChannel">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
<spacer name="horizontalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Select the test channel for tuning feed forward.</string>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="ffTestBox1">
|
||||
@ -812,7 +828,7 @@ p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware! Check <span style=" font-weight:600;">all three</span> checkboxes to test the</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">selected channel.</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run even if your airframe is not armed.</p></body></html></string>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run only if your airframe armed.</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
@ -828,7 +844,7 @@ p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware! Check <span style=" font-weight:600;">all three</span> checkboxes to test the</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">selected channel.</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run even if your airframe is not armed.</p></body></html></string>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run only if your airframe armed.</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
@ -844,7 +860,7 @@ p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware! Check <span style=" font-weight:600;">all three</span> checkboxes to test the</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">selected channel.</p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run even if your airframe is not armed.</p></body></html></string>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It will run only if your airframe armed.</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Enable FF tuning</string>
|
||||
|
||||
@ -28,6 +28,7 @@
|
||||
|
||||
#include <QDebug>
|
||||
#include <QStringList>
|
||||
#include <QTimer>
|
||||
#include <QtGui/QWidget>
|
||||
#include <QtGui/QTextEdit>
|
||||
#include <QtGui/QVBoxLayout>
|
||||
@ -41,6 +42,9 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
|
||||
m_aircraft = new Ui_AircraftWidget();
|
||||
m_aircraft->setupUi(this);
|
||||
|
||||
ffTuningInProgress = false;
|
||||
ffTuningPhase = false;
|
||||
|
||||
mixerTypes << "Mixer0Type" << "Mixer1Type" << "Mixer2Type" << "Mixer3Type"
|
||||
<< "Mixer4Type" << "Mixer5Type" << "Mixer6Type" << "Mixer7Type";
|
||||
mixerVectors << "Mixer0Vector" << "Mixer1Vector" << "Mixer2Vector" << "Mixer3Vector"
|
||||
@ -110,6 +114,11 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
|
||||
// connect(m_aircraft->fwAileron1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleAileron2(int)));
|
||||
// connect(m_aircraft->fwElevator1Channel, SIGNAL(currentIndexChanged(int)), this, SLOT(toggleElevator2(int)));
|
||||
|
||||
// Now connect the three feed forward test checkboxes
|
||||
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
|
||||
connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
|
||||
|
||||
}
|
||||
@ -128,8 +137,6 @@ void ConfigAirframeWidget::switchAirframeType(int index){
|
||||
m_aircraft->airframesWidget->setCurrentIndex(index);
|
||||
m_aircraft->quadShape->setSceneRect(quad->boundingRect());
|
||||
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void ConfigAirframeWidget::showEvent(QShowEvent *event)
|
||||
@ -145,7 +152,6 @@ void ConfigAirframeWidget::resizeEvent(QResizeEvent* event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
m_aircraft->quadShape->fitInView(quad, Qt::KeepAspectRatio);
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -171,6 +177,80 @@ void ConfigAirframeWidget::toggleElevator2(int index)
|
||||
}
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////
|
||||
/// Feed Forward Testing
|
||||
/////////////////////////////////////////////////////////
|
||||
|
||||
/**
|
||||
Enables and runs feed forward testing
|
||||
*/
|
||||
void ConfigAirframeWidget::enableFFTest()
|
||||
{
|
||||
// Role:
|
||||
// - Check if all three checkboxes are checked
|
||||
// - Every other timer event: toggle engine from 1/3 to 2/3
|
||||
// - Every other time event: send FF settings to flight FW
|
||||
if (m_aircraft->ffTestBox1->isChecked() &&
|
||||
m_aircraft->ffTestBox2->isChecked() &&
|
||||
m_aircraft->ffTestBox3->isChecked()) {
|
||||
if (!ffTuningInProgress)
|
||||
{
|
||||
// Initiate tuning:
|
||||
// Setup a special mixer with all channels disabled but one
|
||||
// and no RPY dependency.
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
accInitialData = mdata;
|
||||
mdata.flightAccess = UAVObject::ACCESS_READONLY;
|
||||
/*
|
||||
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
mdata.gcsTelemetryAcked = false;
|
||||
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
|
||||
// NOTE: if actuators not updated at least every 100ms, then the
|
||||
// flight sw goes into failsafe, hence this very low update period:
|
||||
mdata.gcsTelemetryUpdatePeriod = 25;
|
||||
*/
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
// Depending on phase, either move actuator or send FF settings:
|
||||
if (ffTuningPhase) {
|
||||
// Send FF settings to the board
|
||||
// We can already setup the feedforward here, as it is common to all platforms
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
UAVObjectField* field = obj->getField(QString("FeedForward"));
|
||||
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
|
||||
field = obj->getField(QString("AccelTime"));
|
||||
field->setDouble(m_aircraft->accelTime->value());
|
||||
field = obj->getField(QString("DecelTime"));
|
||||
field->setDouble(m_aircraft->decelTime->value());
|
||||
field = obj->getField(QString("MaxAccel"));
|
||||
field->setDouble(m_aircraft->maxAccelSlider->value());
|
||||
obj->updated();
|
||||
} else {
|
||||
// Toggle motor state
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
|
||||
double value = obj->getField("Throttle")->getDouble();
|
||||
double target = (value < 0.5) ? 0.55 : 0.45;
|
||||
obj->getField("Throttle")->setValue(target);
|
||||
obj->updated();
|
||||
}
|
||||
ffTuningPhase = !ffTuningPhase;
|
||||
ffTuningInProgress = true;
|
||||
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
|
||||
} else {
|
||||
// - If no: disarm timer, restore actuatorcommand metadata
|
||||
// Disarm!
|
||||
if (ffTuningInProgress) {
|
||||
ffTuningInProgress = false;
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
mdata = accInitialData; // Restore metadata
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
Resets Fixed wing throttle mixer
|
||||
*/
|
||||
|
||||
@ -63,6 +63,9 @@ private:
|
||||
QStringList mixerTypes;
|
||||
QStringList mixerVectors;
|
||||
QGraphicsSvgItem *quad;
|
||||
bool ffTuningInProgress;
|
||||
bool ffTuningPhase;
|
||||
UAVObject::Metadata accInitialData;
|
||||
|
||||
private slots:
|
||||
void requestAircraftUpdate();
|
||||
@ -76,6 +79,7 @@ private slots:
|
||||
void resetMrMixer();
|
||||
void updateFwThrottleCurveValue(QList<double> list, double value);
|
||||
void updateMrThrottleCurveValue(QList<double> list, double value);
|
||||
void enableFFTest();
|
||||
|
||||
protected:
|
||||
void showEvent(QShowEvent *event);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user