AP_Scripting: simplify Rover quick tune #25629
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This PR is only effecting a script and it's md so it's low risk. I say we YOLO merge it |
magicrub
approved these changes
Nov 26, 2023
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@rmackay9 |
tridge
approved these changes
Nov 29, 2023
tridge
previously requested changes
Nov 29, 2023
Only tunes FF. P and I are set as ratio to FF
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This is included in Copter-4.4.4-beta1 and Rover-4.4.0-beta11 |
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This greatly simplifies the Rover quiktune so that it only tunes the Steering (aka Turn rate) and Speed controller feed-forward values. It then simply sets the corresponding P and I values to configurable ratios of the feed-forward.
While the rover tune received initial positive feedback, over time it became clear that the gains it produced were always too high and to get them into a reasonable range we had to set the backoff margin to ridiculously high values like 90% at which point it became very questionable as to whether the raise-gains-until-it-oscillates method is appropriate for rovers and boats.
This has been successfully tested in SITL and on a real vehicle.
This resolves issue #24729
The testing discussion is here.