TradHeli: script for idle control #25706

Ferruccio1984 · 2023-12-05T05:02:43Z

allows manual and/or automatic engine rpm control during ground idling.
Handles transition to flight regime and does not affect pre-existing functinalities (idle setting for manual autorotation -H_RSC_AROT_IDLE).
Video below for reference (ch10 as script auxiliary potentiometer/ H_RSC_AROT_IDLE set to 6):
https://www.youtube.com/watch?v=Iau5VVvgd3A

IamPete1 · 2023-12-05T12:14:17Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+      local now = millis():tofloat() * 0.001
+      if not _last_t then
+         _last_t = now
+      end
+      local dt = now - _last_t


Better to convert to float as the last step. Currently you will loose precision as millis gets larger.

Suggested change

local now = millis():tofloat() * 0.001

if not _last_t then

_last_t = now

end

local dt = now - _last_t

local now = millis()

if not _last_t then

_last_t = now

end

local dt = (now - _last_t):tofloat() * 0.001

IamPete1 · 2023-12-05T12:15:20Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+      local I = _I
+      local ret = P + I


Suggested change

local I = _I

local ret = P + I

local ret = P + _I

IamPete1 · 2023-12-05T12:17:22Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+		      end	      
+           end 			  
+		end
+		last_idc_time = millis():tofloat()


Same thing as above, using tofloat too soon.

IamPete1 · 2023-12-05T12:17:32Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+	    end 
+		 -- smooth out rotor runup 
+		if ramp_up_complete ~= true then	
+           time_now = millis():tofloat()		 


tofloat again

Ferruccio1984 · 2023-12-05T22:33:17Z

Thanks @IamPete1

Ferruccio1984 · 2023-12-23T02:24:34Z

@IamPete1 The functionality has been tested in two additional use-cases:
1)idle rpm control(user Petr): https://discuss.ardupilot.org/t/how-to-make-pi-regulator-for-combustion-engine-idle/107611/18
2)manual idle control (user Allister):

IamPete1

Must pass luacheck.

This also assumes the servo is not reversed. It should probably check before doing a direct PWM override. Otherwise it might go to full throttle.

There is also lots of extra white space that needs tidying up at the end of lines. There is also a mixture of tabs and spaces for indenting.

IamPete1 · 2023-12-23T16:39:47Z

libraries/AP_Scripting/applets/idle_control_heli.lua

@@ -0,0 +1,241 @@
+-- idle_control.lua: a closed loop control throttle control while on ground idle (trad-heli)
+
+-- luacheck: only 0


This is cheating, has to pass luacheck.

The errors are:

libraries/AP_Scripting/applets/idle_control_heli.lua:44:7: unused variable switch libraries/AP_Scripting/applets/idle_control_heli.lua:45:7: unused variable rsc_pos libraries/AP_Scripting/applets/idle_control_heli.lua:56:7: unused variable last_thr_out libraries/AP_Scripting/applets/idle_control_heli.lua:92:10: variable _P is never accessed libraries/AP_Scripting/applets/idle_control_heli.lua:95:10: variable _target is never accessed libraries/AP_Scripting/applets/idle_control_heli.lua:96:10: variable _current is never accessed libraries/AP_Scripting/applets/idle_control_heli.lua:148:9: shadowing upvalue rsc_pos on line 45

IamPete1 · 2023-12-23T16:42:08Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+function bind_param(name)
+   local p = Parameter()
+   assert(p:init(name), string.format('could not find %s parameter', name))
+   return p
+end


On 4.4 you don't need this, the Parameter object can take a name directly.

IamPete1 · 2023-12-23T16:42:19Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return bind_param(PARAM_TABLE_PREFIX .. name)


Suggested change

return bind_param(PARAM_TABLE_PREFIX .. name)

return Parameter(PARAM_TABLE_PREFIX .. name)

IamPete1 · 2023-12-23T16:42:49Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+local H_RSC_IDLE = Parameter()
+H_RSC_IDLE:init('H_RSC_IDLE')


Suggested change

local H_RSC_IDLE = Parameter()

H_RSC_IDLE:init('H_RSC_IDLE')

local H_RSC_IDLE = Parameter('H_RSC_IDLE')

IamPete1 · 2023-12-23T16:43:07Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+local H_RSC_RUNUP_TIME = Parameter()
+H_RSC_RUNUP_TIME:init('H_RSC_RUNUP_TIME')


Suggested change

local H_RSC_RUNUP_TIME = Parameter()

H_RSC_RUNUP_TIME:init('H_RSC_RUNUP_TIME')

local H_RSC_RUNUP_TIME = Parameter('H_RSC_RUNUP_TIME')

IamPete1 · 2023-12-23T16:48:36Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+local SERVO8_MAX = Parameter()
+SERVO8_MAX:init('SERVO8_MAX')
+
+local SERVO8_MIN = Parameter()
+SERVO8_MIN:init('SERVO8_MIN')


You fetch the rsc channel later in the script but have the endpoints hard coded to servo 8 here. This should work:

Suggested change

local SERVO8_MAX = Parameter()

SERVO8_MAX:init('SERVO8_MAX')

local SERVO8_MIN = Parameter()

SERVO8_MIN:init('SERVO8_MIN')

local rsc_output = SRV_Channels:find_channel(31)

local SERVO_MAX = Parameter('SERVO' .. (rsc_output+1) .. '_MAX')

local SERVO_MIN = Parameter('SERVO' .. (rsc_output+1) .. '_MIN')

I have not tested.

yes, I was looking indeed for a better way to retrieve endpoints through the servo function instead of hardcoding stuff (so to consider configs different from default).

IamPete1 · 2023-12-23T16:49:47Z

libraries/AP_Scripting/applets/idle_control_heli.lua

+
+gcs:send_text(5, "idle_control_running")
+
+return update()


Suggested change

return update()

return update()

Ferruccio1984 · 2023-12-30T16:41:19Z

Hi @IamPete1 , implemented the requested changes (hopefully right). I tried the script for automatic code formatting but I wasn't sure it looked alright...so did by hand.
Now luacheck pass (with magic line "removed" :-) ):

Tested the logic for servo normal/reverse:

IamPete1 · 2023-12-31T21:00:57Z

It passes lua check and had been tested I'm OK with it going in. Does need those two fixup commits squashing into the first.

Now passes lua check.

rmackay9 · 2024-01-08T23:27:32Z

Looking pretty good.

One small thing is I think for vehicle specific scripts we should put the vehicle name at the front (instead of the end).

allows manual and/or automatic engine rpm control during ground idling fix for conversion to float rename fix

bnsgeyer

LGTM. Thanks!

Ferruccio1984 · 2024-01-12T22:55:20Z

LGTM. Thanks!

Thanks @bnsgeyer !

IamPete1 reviewed Dec 5, 2023

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IamPete1 previously requested changes Dec 23, 2023

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Ferruccio1984 force-pushed the master branch 4 times, most recently from e68fa1b to 5e4be58 Compare January 7, 2024 00:59

IamPete1 added the DevCallTopic label Jan 7, 2024

IamPete1 force-pushed the master branch from 5e4be58 to d30b28b Compare January 8, 2024 18:54

IamPete1 added TradHeli Scripting labels Jan 8, 2024

CraigElder removed the DevCallTopic label Jan 8, 2024

Ferruccio1984 changed the title ~~AP_Scripting: script for idle control (gas helicopters)~~ TradHeli: script for idle control Jan 9, 2024

AP_Scripting: script for idle control (gas helicopters)

10a6fca

allows manual and/or automatic engine rpm control during ground idling fix for conversion to float rename fix

Ferruccio1984 force-pushed the master branch from 192b25a to 10a6fca Compare January 9, 2024 15:14

bnsgeyer self-requested a review January 10, 2024 03:29

bnsgeyer approved these changes Jan 10, 2024

View reviewed changes

bnsgeyer merged commit 8bfd8f2 into ArduPilot:master Jan 10, 2024
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TradHeli: script for idle control #25706

TradHeli: script for idle control #25706

Ferruccio1984 commented Dec 5, 2023

IamPete1 Dec 5, 2023

IamPete1 Dec 5, 2023

IamPete1 Dec 5, 2023

IamPete1 Dec 5, 2023

Ferruccio1984 commented Dec 5, 2023

Ferruccio1984 commented Dec 23, 2023

IamPete1 left a comment

IamPete1 Dec 23, 2023

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IamPete1 Dec 23, 2023

IamPete1 Dec 23, 2023

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IamPete1 Dec 23, 2023

Ferruccio1984 Dec 24, 2023

IamPete1 Dec 23, 2023

Ferruccio1984 commented Dec 30, 2023

IamPete1 commented Dec 31, 2023

rmackay9 commented Jan 8, 2024

bnsgeyer left a comment

Ferruccio1984 commented Jan 12, 2024

		@@ -0,0 +1,241 @@
		-- idle_control.lua: a closed loop control throttle control while on ground idle (trad-heli)

		-- luacheck: only 0

	return bind_param(PARAM_TABLE_PREFIX .. name)
	return Parameter(PARAM_TABLE_PREFIX .. name)

	local H_RSC_IDLE = Parameter()
	H_RSC_IDLE:init('H_RSC_IDLE')
	local H_RSC_IDLE = Parameter('H_RSC_IDLE')

		local H_RSC_RUNUP_TIME = Parameter()
		H_RSC_RUNUP_TIME:init('H_RSC_RUNUP_TIME')

	local H_RSC_RUNUP_TIME = Parameter()
	H_RSC_RUNUP_TIME:init('H_RSC_RUNUP_TIME')
	local H_RSC_RUNUP_TIME = Parameter('H_RSC_RUNUP_TIME')

TradHeli: script for idle control #25706

TradHeli: script for idle control #25706

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Ferruccio1984 commented Dec 5, 2023

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Ferruccio1984 commented Dec 5, 2023

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Ferruccio1984 commented Dec 30, 2023

IamPete1 commented Dec 31, 2023

rmackay9 commented Jan 8, 2024

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Ferruccio1984 commented Jan 12, 2024