diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_params.c')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 391 |
1 files changed, 313 insertions, 78 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index be76524da..7cae84678 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. +f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without @@ -38,99 +38,334 @@ * Parameters defined by the fixed-wing attitude control task * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@gmail.com> */ #include <nuttx/config.h> #include <systemlib/param/param.h> + /* * Controller parameters, accessible via MAVLink * */ -// @DisplayName Attitude Time Constant -// @Description This defines the latency between a step input and the achieved setpoint. Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. -// @Range 0.4 to 1.0 seconds, in tens of seconds +/** + * Attitude Time Constant + * + * This defines the latency between a step input and the achieved setpoint + * (inverse to a P gain). Half a second is a good start value and fits for + * most average systems. Smaller systems may require smaller values, but as + * this will wear out servos faster, the value should only be decreased as + * needed. + * + * @unit seconds + * @min 0.4 + * @max 1.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); -// @DisplayName Proportional gain. -// @Description This defines how much the elevator input will be commanded dependend on the current pitch error. -// @Range 10 to 200, 1 increments -PARAM_DEFINE_FLOAT(FW_P_P, 40.0f); - -// @DisplayName Damping gain. -// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings. -// @Range 0.0 to 10.0, 0.1 increments -PARAM_DEFINE_FLOAT(FW_P_D, 0.0f); +/** + * Pitch rate proportional gain. + * + * This defines how much the elevator input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); -// @DisplayName Integrator gain. -// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. -// @Range 0 to 50.0 -PARAM_DEFINE_FLOAT(FW_P_I, 0.0f); +/** + * Pitch rate integrator gain. + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 50.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f); -// @DisplayName Maximum positive / up pitch rate. -// @Description This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds, in 1 increments +/** + * Maximum positive / up pitch rate. + * + * This limits the maximum pitch up angular rate the controller will output (in + * degrees per second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f); -// @DisplayName Maximum negative / down pitch rate. -// @Description This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds, in 1 increments +/** + * Maximum negative / down pitch rate. + * + * This limits the maximum pitch down up angular rate the controller will + * output (in degrees per second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); -// @DisplayName Pitch Integrator Anti-Windup -// @Description This limits the range in degrees the integrator can wind up to. -// @Range 0.0 to 45.0 -// @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f); - -// @DisplayName Roll feedforward gain. -// @Description This compensates during turns and ensures the nose stays level. -// @Range 0.5 2.0 -// @Increment 0.05 -// @User User -PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 1.0f); - -// @DisplayName Proportional Gain. -// @Description This gain controls the roll angle to roll actuator output. -// @Range 10.0 200.0 -// @Increment 10.0 -// @User User -PARAM_DEFINE_FLOAT(FW_R_P, 40.0f); - -// @DisplayName Damping Gain -// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence. -// @Range 0.0 10.0 -// @Increment 1.0 -// @User User -PARAM_DEFINE_FLOAT(FW_R_D, 0.0f); - -// @DisplayName Integrator Gain -// @Description This gain controls the contribution of the integral to roll actuator outputs. It trims out steady state errors. -// @Range 0.0 100.0 -// @Increment 5.0 -// @User User -PARAM_DEFINE_FLOAT(FW_R_I, 0.0f); - -// @DisplayName Roll Integrator Anti-Windup -// @Description This limits the range in degrees the integrator can wind up to. -// @Range 0.0 to 45.0 -// @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f); - -// @DisplayName Maximum Roll Rate -// @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds -// @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); - - -PARAM_DEFINE_FLOAT(FW_Y_P, 0); -PARAM_DEFINE_FLOAT(FW_Y_I, 0); -PARAM_DEFINE_FLOAT(FW_Y_IMAX, 15.0f); -PARAM_DEFINE_FLOAT(FW_Y_D, 0); -PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 1); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); -PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); +/** + * Pitch rate integrator limit + * + * The portion of the integrator part in the control surface deflection is + * limited to this value + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); + +/** + * Roll to Pitch feedforward gain. + * + * This compensates during turns and ensures the nose stays level. + * + * @min 0.0 + * @max 2.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) + +/** + * Roll rate proportional Gain + * + * This defines how much the aileron input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); + +/** + * Roll rate integrator Gain + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 100.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f); + +/** + * Roll Integrator Anti-Windup + * + * The portion of the integrator part in the control surface deflection is limited to this value. + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); + +/** + * Maximum Roll Rate + * + * This limits the maximum roll rate the controller will output (in degrees per + * second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f); + +/** + * Yaw rate proportional gain + * + * This defines how much the rudder input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); + +/** + * Yaw rate integrator gain + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 50.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); + +/** + * Yaw rate integrator limit + * + * The portion of the integrator part in the control surface deflection is + * limited to this value + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); + +/** + * Maximum Yaw Rate + * + * This limits the maximum yaw rate the controller will output (in degrees per + * second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); + +/** + * Roll rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f); + +/** + * Pitch rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f); + +/** + * Yaw rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); + +/** + * Minimal speed for yaw coordination + * + * For airspeeds above this value, the yaw rate is calculated for a coordinated + * turn. Set to a very high value to disable. + * + * @unit m/s + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); + +/* Airspeed parameters: + * The following parameters about airspeed are used by the attitude and the + * position controller. + * */ + +/** + * Minimum Airspeed + * + * If the airspeed falls below this value, the TECS controller will try to + * increase airspeed more aggressively. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f); + +/** + * Trim Airspeed + * + * The TECS controller tries to fly at this airspeed. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f); + +/** + * Maximum Airspeed + * + * If the airspeed is above this value, the TECS controller will try to decrease + * airspeed more aggressively. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f); + +/** + * Roll Setpoint Offset + * + * An airframe specific offset of the roll setpoint in degrees, the value is + * added to the roll setpoint and should correspond to the typical cruise speed + * of the airframe. + * + * @unit deg + * @min -90.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f); + +/** + * Pitch Setpoint Offset + * + * An airframe specific offset of the pitch setpoint in degrees, the value is + * added to the pitch setpoint and should correspond to the typical cruise + * speed of the airframe. + * + * @unit deg + * @min -90.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); + +/** + * Max Manual Roll + * + * Max roll for manual control in attitude stabilized mode + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); + +/** + * Max Manual Pitch + * + * Max pitch for manual control in attitude stabilized mode + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f); |