diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 265 |
1 files changed, 238 insertions, 27 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 31a9cdefa..52128e1b7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -40,12 +40,10 @@ */ #include <nuttx/config.h> - #include <systemlib/param/param.h> /* * Controller parameters, accessible via MAVLink - * */ /** @@ -74,17 +72,6 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f); PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f); /** - * Default Loiter Radius - * - * This radius is used when no other loiter radius is set. - * - * @min 10.0 - * @max 100.0 - * @group L1 Control - */ -PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f); - -/** * Cruise throttle * * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. @@ -119,48 +106,272 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); */ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); - +/** + * Controller roll limit + * + * The maximum roll the controller will output. + * + * @unit degrees + * @min 0.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); +/** + * Throttle limit max + * + * This is the maximum throttle % that can be used by the controller. + * For overpowered aircraft, this should be reduced to a value that + * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); +/** + * Throttle limit min + * + * This is the minimum throttle % that can be used by the controller. + * For electric aircraft this will normally be set to zero, but can be set + * to a small non-zero value if a folding prop is fitted to prevent the + * prop from folding and unfolding repeatedly in-flight or to provide + * some aerodynamic drag from a turning prop to improve the descent rate. + * + * For aircraft with internal combustion engine this parameter should be set + * for desired idle rpm. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); - -PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); - +/** + * Throttle limit value before flare + * + * This throttle value will be set as throttle limit at FW_LND_TLALT, + * before arcraft will flare. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); +/** + * Maximum climb rate + * + * This is the best climb rate that the aircraft can achieve with + * the throttle set to THR_MAX and the airspeed set to the + * default value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * The setting of this parameter can be checked by commanding a positive + * altitude change of 100m in loiter, RTL or guided mode. If the throttle + * required to climb is close to THR_MAX and the aircraft is maintaining + * airspeed, then this parameter is set correctly. If the airspeed starts + * to reduce, then the parameter is set to high, and if the throttle + * demand required to climb and maintain speed is noticeably less than + * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or + * FW_THR_MAX reduced. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); - +/** + * Minimum descent rate + * + * This is the sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); +/** + * Maximum descent rate + * + * This sets the maximum descent rate that the controller will use. + * If this value is too large, the aircraft can over-speed on descent. + * This should be set to a value that can be achieved without + * exceeding the lower pitch angle limit and without over-speeding + * the aircraft. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); +/** + * TECS time constant + * + * This is the time constant of the TECS control algorithm (in seconds). + * Smaller values make it faster to respond, larger values make it slower + * to respond. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); - +/** + * Throttle damping factor + * + * This is the damping gain for the throttle demand loop. + * Increase to add damping to correct for oscillations in speed and height. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); - +/** + * Integrator gain + * + * This is the integrator gain on the control loop. + * Increasing this gain increases the speed at which speed + * and height offsets are trimmed out, but reduces damping and + * increases overshoot. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); - +/** + * Maximum vertical acceleration + * + * This is the maximum vertical acceleration (in metres/second square) + * either up or down that the controller will use to correct speed + * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) + * allows for reasonably aggressive pitch changes if required to recover + * from under-speed conditions. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); - +/** + * Complementary filter "omega" parameter for height + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse vertical acceleration and barometric height to obtain + * an estimate of height rate and height. Increasing this frequency weights + * the solution more towards use of the barometer, whilst reducing it weights + * the solution more towards use of the accelerometer data. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); - +/** + * Complementary filter "omega" parameter for speed + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse longitudinal acceleration and airspeed to obtain an + * improved airspeed estimate. Increasing this frequency weights the solution + * more towards use of the arispeed sensor, whilst reducing it weights the + * solution more towards use of the accelerometer data. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); - +/** + * Roll -> Throttle feedforward + * + * Increasing this gain turn increases the amount of throttle that will + * be used to compensate for the additional drag created by turning. + * Ideally this should be set to approximately 10 x the extra sink rate + * in m/s created by a 45 degree bank turn. Increase this gain if + * the aircraft initially loses energy in turns and reduce if the + * aircraft initially gains energy in turns. Efficient high aspect-ratio + * aircraft (eg powered sailplanes) can use a lower value, whereas + * inefficient low aspect-ratio models (eg delta wings) can use a higher value. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); - +/** + * Speed <--> Altitude priority + * + * This parameter adjusts the amount of weighting that the pitch control + * applies to speed vs height errors. Setting it to 0.0 will cause the + * pitch control to control height and ignore speed errors. This will + * normally improve height accuracy but give larger airspeed errors. + * Setting it to 2.0 will cause the pitch control loop to control speed + * and ignore height errors. This will normally reduce airspeed errors, + * but give larger height errors. The default value of 1.0 allows the pitch + * control to simultaneously control height and speed. + * Note to Glider Pilots - set this parameter to 2.0 (The glider will + * adjust its pitch angle to maintain airspeed, ignoring changes in height). + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); - +/** + * Pitch damping factor + * + * This is the damping gain for the pitch demand loop. Increase to add + * damping to correct for oscillations in height. The default value of 0.0 + * will work well provided the pitch to servo controller has been tuned + * properly. + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); +/** + * Height rate P factor + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); + +/** + * Speed rate P factor + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); -PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); +/** + * Landing slope angle + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); + +/** + * + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); + +/** + * Landing flare altitude (relative) + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); + +/** + * Landing throttle limit altitude (relative) + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); + +/** + * Landing heading hold horizontal distance + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); + +/** + * Relative altitude threshold for range finder measurements for use during landing + * + * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT + * set to < 0 to disable + * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); |