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pid tuning: add MPC_POS_MODE, MC_AIRMODE and THR_MDL_FAC params

QGC4.4
Beat Küng 4 years ago committed by Lorenz Meier
parent
4adc57a518
commit
128f22dd2c
2 changed files with 209 additions and 159 deletions
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  1. 214
      src/AutoPilotPlugins/PX4/PX4TuningComponentCopterRate.qml
  2. 154
      src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml

214
src/AutoPilotPlugins/PX4/PX4TuningComponentCopterRate.qml
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@ -18,106 +18,138 @@ import QGroundControl.FactControls 1.0 @@ -18,106 +18,138 @@ import QGroundControl.FactControls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
PIDTuning {
Column {
width: availableWidth
property Fact _airmode: controller.getParameterFact(-1, "MC_AIRMODE", false)
property Fact _thrustModelFactor: controller.getParameterFact(-1, "THR_MDL_FAC", false)
property var roll: QtObject {
property string name: qsTr("Roll")
property var plot: [
{ name: "Response", value: globals.activeVehicle.rollRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_ROLLRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_ROLLRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_ROLLRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_ROLLRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_ROLLRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_ROLLRATE_I"
min: 0.1
max: 0.5
step: 0.025
}
GridLayout {
columns: 2
QGCLabel {
textFormat: Text.RichText
text: qsTr("Airmode (disable during tuning) <b><a href=\"https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#airmode-mixer-saturation\">?</a></b>:")
onLinkActivated: Qt.openUrlExternally(link)
visible: _airmode
}
FactComboBox {
fact: _airmode
indexModel: false
visible: _airmode
}
QGCLabel {
textFormat: Text.RichText
text: qsTr("Thrust curve <b><a href=\"https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#thrust-curve\">?</a></b>:")
onLinkActivated: Qt.openUrlExternally(link)
visible: _thrustModelFactor
}
FactTextField {
fact: _thrustModelFactor
visible: _thrustModelFactor
}
}
property var pitch: QtObject {
property string name: qsTr("Pitch")
property var plot: [
{ name: "Response", value: globals.activeVehicle.pitchRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_PITCHRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_PITCHRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_PITCHRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_PITCHRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_PITCHRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_PITCHRATE_I"
min: 0.1
max: 0.5
step: 0.025
PIDTuning {
width: availableWidth
property var roll: QtObject {
property string name: qsTr("Roll")
property var plot: [
{ name: "Response", value: globals.activeVehicle.rollRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_ROLLRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_ROLLRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_ROLLRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_ROLLRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_ROLLRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_ROLLRATE_I"
min: 0.1
max: 0.5
step: 0.025
}
}
}
}
property var yaw: QtObject {
property string name: qsTr("Yaw")
property var plot: [
{ name: "Response", value: globals.activeVehicle.yawRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_YAWRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_YAWRATE_K"
min: 0.3
max: 3
step: 0.05
property var pitch: QtObject {
property string name: qsTr("Pitch")
property var plot: [
{ name: "Response", value: globals.activeVehicle.pitchRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_PITCHRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_PITCHRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential Gain (MC_PITCHRATE_D)")
description: qsTr("Damping: increase to reduce overshoots and oscillations, but not higher than really needed.")
param: "MC_PITCHRATE_D"
min: 0.0004
max: 0.01
step: 0.0002
}
ListElement {
title: qsTr("Integral Gain (MC_PITCHRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_PITCHRATE_I"
min: 0.1
max: 0.5
step: 0.025
}
}
ListElement {
title: qsTr("Integral Gain (MC_YAWRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_YAWRATE_I"
min: 0.04
max: 0.4
step: 0.02
}
property var yaw: QtObject {
property string name: qsTr("Yaw")
property var plot: [
{ name: "Response", value: globals.activeVehicle.yawRate.value },
{ name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Overall Multiplier (MC_YAWRATE_K)")
description: qsTr("Multiplier for P, I and D gains: increase for more responsiveness, reduce if the rates overshoot (and increasing D does not help).")
param: "MC_YAWRATE_K"
min: 0.3
max: 3
step: 0.05
}
ListElement {
title: qsTr("Integral Gain (MC_YAWRATE_I)")
description: qsTr("Generally does not need much adjustment, reduce this when seeing slow oscillations.")
param: "MC_YAWRATE_I"
min: 0.04
max: 0.4
step: 0.02
}
}
}
anchors.left: parent.left
anchors.right: parent.right
title: "Rate"
tuningMode: Vehicle.ModeRateAndAttitude
unit: "deg/s"
axis: [ roll, pitch, yaw ]
chartDisplaySec: 3
}
anchors.left: parent.left
anchors.right: parent.right
title: "Rate"
tuningMode: Vehicle.ModeRateAndAttitude
unit: "deg/s"
axis: [ roll, pitch, yaw ]
chartDisplaySec: 3
}

154
src/AutoPilotPlugins/PX4/PX4TuningComponentCopterVelocity.qml
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@ -18,82 +18,100 @@ import QGroundControl.FactControls 1.0 @@ -18,82 +18,100 @@ import QGroundControl.FactControls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Vehicle 1.0
PIDTuning {
Column {
width: availableWidth
property Fact _mcPosMode: controller.getParameterFact(-1, "MPC_POS_MODE", false)
property var horizontal: QtObject {
property string name: qsTr("Horizontal")
property string plotTitle: qsTr("Horizontal (Y direction, sidewards)")
property var plot: [
{ name: "Response", value: globals.activeVehicle.localPosition.vy.value },
{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vy.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Proportional gain (MPC_XY_VEL_P_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_P_ACC"
min: 1.2
max: 5
step: 0.05
}
ListElement {
title: qsTr("Integral gain (MPC_XY_VEL_I_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_I_ACC"
min: 0.2
max: 10
step: 0.2
}
ListElement {
title: qsTr("Differential gain (MPC_XY_VEL_D_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_D_ACC"
min: 0.1
max: 2
step: 0.05
}
GridLayout {
columns: 2
QGCLabel {
text: qsTr("Position control mode (set this to 'simple' during tuning):")
visible: _mcPosMode
}
FactComboBox {
fact: _mcPosMode
indexModel: false
visible: _mcPosMode
}
}
property var vertical: QtObject {
property string name: qsTr("Vertical")
property var plot: [
{ name: "Response", value: globals.activeVehicle.localPosition.vz.value },
{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vz.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Proportional gain (MPC_Z_VEL_P_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_P_ACC"
min: 2
max: 15
step: 0.5
}
ListElement {
title: qsTr("Integral gain (MPC_Z_VEL_I_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_I_ACC"
min: 0.2
max: 3
step: 0.05
PIDTuning {
width: availableWidth
property var horizontal: QtObject {
property string name: qsTr("Horizontal")
property string plotTitle: qsTr("Horizontal (Y direction, sidewards)")
property var plot: [
{ name: "Response", value: globals.activeVehicle.localPosition.vy.value },
{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vy.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Proportional gain (MPC_XY_VEL_P_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_P_ACC"
min: 1.2
max: 5
step: 0.05
}
ListElement {
title: qsTr("Integral gain (MPC_XY_VEL_I_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_I_ACC"
min: 0.2
max: 10
step: 0.2
}
ListElement {
title: qsTr("Differential gain (MPC_XY_VEL_D_ACC)")
description: qsTr("TODO")
param: "MPC_XY_VEL_D_ACC"
min: 0.1
max: 2
step: 0.05
}
}
ListElement {
title: qsTr("Differential gain (MPC_Z_VEL_D_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_D_ACC"
min: 0
max: 2
step: 0.05
}
property var vertical: QtObject {
property string name: qsTr("Vertical")
property var plot: [
{ name: "Response", value: globals.activeVehicle.localPosition.vz.value },
{ name: "Setpoint", value: globals.activeVehicle.localPositionSetpoint.vz.value }
]
property var params: ListModel {
ListElement {
title: qsTr("Proportional gain (MPC_Z_VEL_P_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_P_ACC"
min: 2
max: 15
step: 0.5
}
ListElement {
title: qsTr("Integral gain (MPC_Z_VEL_I_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_I_ACC"
min: 0.2
max: 3
step: 0.05
}
ListElement {
title: qsTr("Differential gain (MPC_Z_VEL_D_ACC)")
description: qsTr("TODO")
param: "MPC_Z_VEL_D_ACC"
min: 0
max: 2
step: 0.05
}
}
}
anchors.left: parent.left
anchors.right: parent.right
title: "Velocity"
tuningMode: Vehicle.ModeVelocityAndPosition
unit: "m/s"
axis: [ horizontal, vertical ]
}
anchors.left: parent.left
anchors.right: parent.right
title: "Velocity"
tuningMode: Vehicle.ModeVelocityAndPosition
unit: "m/s"
axis: [ horizontal, vertical ]
}

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