AP_Scripting: make min speed configurable in rover-quicktune

libraries/AP_Scripting/applets/rover-quicktune.lua

@@ -26,7 +26,7 @@ local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTI
 
 local PARAM_TABLE_KEY = 15
 local PARAM_TABLE_PREFIX = "RTUN_"
-local PARAM_TABLE_SIZE = 11
+local PARAM_TABLE_SIZE = 12
 
 -- bind a parameter to a variable
 function bind_param(name)
@@ -143,6 +143,16 @@ local RTUN_AUTO_SAVE = bind_add_param('AUTO_SAVE', 10, 5)
 --]]
 local RTUN_RC_FUNC = bind_add_param('RC_FUNC', 11, 300)
 
+--[[
+  // @Param: RTUN_SPEED_MIN
+  // @DisplayName: Rover Quicktune minimum speed for tuning
+  // @Description: The mimimum speed in m/s required for tuning to start
+  // @Units: m/s
+  // @Range: 0.1 0.5
+  // @User: Standard
+--]]
+local SPEED_FF_SPEED_MIN = bind_add_param('SPEED_MIN', 12, 0.5)
+
 -- other vehicle parameters used by this script
 local INS_GYRO_FILTER  = bind_param("INS_GYRO_FILTER")
 local GCS_PID_MASK     = bind_param("GCS_PID_MASK")
@@ -159,7 +169,6 @@ local FLTD_MUL = 0.5                -- ATC_STR_RAT_FLTD set to 0.5 * INS_GYRO_FI
 local FLTT_MUL = 0.5                -- ATC_STR_RAT_FLTT set to 0.5 * INS_GYRO_FILTER
 local STR_RAT_FF_TURNRATE_MIN = math.rad(10)    -- steering rate feedforward min vehicle turn rate (in radians/sec)
 local STR_RAT_FF_STEERING_MIN = 0.10            -- steering rate feedforward min steering output (in the range 0 to 1)
-local SPEED_FF_SPEED_MIN = 0.5      -- speed feedforward minimum vehicle speed (in m/s)
 local SPEED_FF_THROTTLE_MIN = 0.20  -- speed feedforward requires throttle output (in the range 0 to 1)
 
 -- get time in seconds since boot
@@ -458,7 +467,7 @@ function update_speed_ff(ff_pname)
 
   -- check throttle and speed
   local throttle_ok = throttle_out >= SPEED_FF_THROTTLE_MIN
-  local speed_ok = speed > SPEED_FF_SPEED_MIN
+  local speed_ok = speed > SPEED_FF_SPEED_MIN:get()
   if (throttle_ok and speed_ok) then
     ff_throttle_sum = ff_throttle_sum + throttle_out
     ff_speed_sum = ff_speed_sum + speed
@@ -471,7 +480,7 @@ function update_speed_ff(ff_pname)
       if not throttle_ok then
         gcs:send_text(MAV_SEVERITY.WARNING, string.format("RTun: increase throttle (%d < %d)", math.floor(throttle_out * 100), math.floor(SPEED_FF_THROTTLE_MIN * 100)))
       elseif not speed_ok then
-        gcs:send_text(MAV_SEVERITY.WARNING, string.format("RTun: increase speed (%3.1f < %3.1f)", speed, SPEED_FF_SPEED_MIN))
+        gcs:send_text(MAV_SEVERITY.WARNING, string.format("RTun: increase speed (%3.1f < %3.1f)", speed, SPEED_FF_SPEED_MIN:get()))
       end
     end
   end

libraries/AP_Scripting/applets/rover-quicktune.md

@@ -60,6 +60,8 @@ If you move the switch to the low position at any time in the tune before gains
 
 If the pilot gives steering or throttle input during tuning then tuning is paused for 4 seconds.  Tuning restarts once the pilot returns to the input to the neutral position.
 
+If the vehicle (small vehicles in particular) is not able to turn correctly to enter or track the circle, the ``PSC_VEl`` parameters may be to be increased. For example ``PSC_VEL_FF`` to 1 and ``PSC_VEL_P`` to 8.
+
 # Parameters
 
 The script has the following parameters to configure its behaviour
@@ -120,3 +122,8 @@ completes unless the pilot move the RC switch low to revert the tune.
 Setting this to a non-zero value allows you to use quicktune with a 2-position
 switch, with the switch settings as low and mid positions. A zero
 value disables auto-save and you need to have a 3 position switch.
+
+## RTUN_SPEED_MIN
+
+The minimum speed at which tuning will occur. The vehicle must be able to
+run in Circle mode at this speed or greater.