/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@gmail.com>
*
* 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
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mTecs_params.c
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*/
/**
* mTECS enabled
*
* Set to 1 to enable mTECS
*
* @min 0
* @max 1
* @group mTECS
*/
PARAM_DEFINE_INT32(MT_ENABLED, 1);
/**
* Total Energy Rate Control Feedforward
* Maps the total energy rate setpoint to the throttle setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f);
/**
* Total Energy Rate Control P
* Maps the total energy rate error to the throttle setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
/**
* Total Energy Rate Control I
* Maps the integrated total energy rate to the throttle setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f);
/**
* Total Energy Rate Control Offset (Cruise throttle sp)
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
/**
* Energy Distribution Rate Control Feedforward
* Maps the energy distribution rate setpoint to the pitch setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f);
/**
* Energy Distribution Rate Control P
* Maps the energy distribution rate error to the pitch setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
/**
* Energy Distribution Rate Control I
* Maps the integrated energy distribution rate error to the pitch setpoint
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
/**
* Total Energy Distribution Offset (Cruise pitch sp)
*
* @min 0.0
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f);
/**
* Minimal Throttle Setpoint
*
* @min 0.0
* @max 1.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f);
/**
* Maximal Throttle Setpoint
*
* @min 0.0
* @max 1.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f);
/**
* Minimal Pitch Setpoint in Degrees
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
/**
* Maximal Pitch Setpoint in Degrees
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
/**
* P gain for the altitude control
* Maps the altitude error to the flight path angle setpoint
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f);
/**
* D gain for the altitude control
* Maps the change of altitude error to the flight path angle setpoint
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
/**
* Lowpass for FPA error derivative calculation (see MT_FPA_D)
*
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
/**
* Minimal flight path angle setpoint
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f);
/**
* Maximal flight path angle setpoint
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
/**
* P gain for the airspeed control
* Maps the airspeed error to the acceleration setpoint
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f);
/**
* Minimal acceleration (air)
*
* @unit m/s^2
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
/**
* Maximal acceleration (air)
*
* @unit m/s^2
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
/**
* Airspeed derivative calculation lowpass
*
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f);
/**
* Minimal throttle during takeoff
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
/**
* Maximal throttle during takeoff
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f);
/**
* Minimal pitch during takeoff
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f);
/**
* Maximal pitch during takeoff
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f);
/**
* Minimal throttle in underspeed mode
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
/**
* Maximal throttle in underspeed mode
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f);
/**
* Minimal pitch in underspeed mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f);
/**
* Maximal pitch in underspeed mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
/**
* Minimal throttle in landing mode (only last phase of landing)
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
/**
* Maximal throttle in landing mode (only last phase of landing)
*
* @min 0.0f
* @max 1.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f);
/**
* Minimal pitch in landing mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f);
/**
* Maximal pitch in landing mode
*
* @min -90.0f
* @max 90.0f
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);
/**
* Integrator Limit for Total Energy Rate Control
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
/**
* Integrator Limit for Energy Distribution Rate Control
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_I_MAX, 10.0f);
