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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-11 19:51:33 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-11 19:51:33 +0200 |
| commit | 7fa5458bc619df427fc29283ff5ff32b933f2906 (patch) | |
| tree | 5a22ee45be01c4f0ee8f3572ad5bd5e0dcfbb817 | |
| parent | e548eeb5890d3691514c7a2ff67be75136c1c557 (diff) | |
| download | px4-firmware-7fa5458bc619df427fc29283ff5ff32b933f2906.tar.gz px4-firmware-7fa5458bc619df427fc29283ff5ff32b933f2906.tar.bz2 px4-firmware-7fa5458bc619df427fc29283ff5ff32b933f2906.zip | |
mtecs: add D gain for speed outer loop
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 4 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 17 |
2 files changed, 19 insertions, 2 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index ddd6583e8..346acfaf3 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -160,8 +160,8 @@ protected: /* control blocks */ BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ - BlockPDLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ - BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ + BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight path angle setpoint */ + BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration setpoint */ /* Other calculation Blocks */ control::BlockDerivative _airspeedDerivative; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 39514b223..6165611b9 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -234,6 +234,23 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); /** + * D gain for the airspeed control + * Maps the change of airspeed error to the acceleration setpoint + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f); + +/** + * Lowpass for ACC error derivative calculation (see MT_ACC_D) + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f); + +/** * Minimal acceleration (air) * * @unit m/s^2 |