/****************************************************************************
*
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
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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****************************************************************************/
/**
* @file fw_att_control_params.c
*
* 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
*
*/
/**
* 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);
/**
* 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);
/**
* 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);
/**
* 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);
/**
* 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);
/**
* 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);
