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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-13 22:33:31 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-13 22:33:31 +0200 |
commit | 8a25c48071ed794b33e23f7ff7737cded58bea11 (patch) | |
tree | 25e2d5393124a78e14d9d6a0b93ea34eac5c6d34 /src/modules/fw_att_control | |
parent | 16ca6c1605e0864d37cce4cfdbe790df5746bb38 (diff) | |
parent | 251760679a4bed86fdb10746062fde2cc23e460f (diff) | |
download | px4-firmware-8a25c48071ed794b33e23f7ff7737cded58bea11.tar.gz px4-firmware-8a25c48071ed794b33e23f7ff7737cded58bea11.tar.bz2 px4-firmware-8a25c48071ed794b33e23f7ff7737cded58bea11.zip |
Merge branch 'master' into mpc_in_flight_lock
Diffstat (limited to 'src/modules/fw_att_control')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 367 |
1 files changed, 270 insertions, 97 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 aa637e207..7cae84678 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -50,149 +50,322 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Controller parameters, accessible via MAVLink * */ -// @DisplayName Attitude Time Constant -// @Description 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. -// @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 Pitch rate proportional gain. -// @Description This defines how much the elevator input will be commanded depending on the current body angular rate error. -// @Range 10 to 200, 1 increments +/** + * 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 Pitch rate 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 +/** + * 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 rate integrator limit -// @Description The portion of the integrator part in the control surface deflection is limited to this value -// @Range 0.0 to 1 -// @Increment 0.1 +/** + * 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); -// @DisplayName Roll to Pitch feedforward gain. -// @Description This compensates during turns and ensures the nose stays level. -// @Range 0.5 2.0 -// @Increment 0.05 -// @User User +/** + * 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 = ...) -// @DisplayName Roll rate proportional Gain. -// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. -// @Range 10.0 200.0 -// @Increment 10.0 -// @User User +/** + * 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); -// @DisplayName Roll rate integrator Gain -// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. -// @Range 0.0 100.0 -// @Increment 5.0 -// @User User +/** + * 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); -// @DisplayName Roll Integrator Anti-Windup -// @Description The portion of the integrator part in the control surface deflection is limited to this value. -// @Range 0.0 to 1.0 -// @Increment 0.1 +/** + * 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); -// @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, 0); +/** + * 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); -// @DisplayName Yaw rate proportional gain. -// @Description This defines how much the rudder input will be commanded depending on the current body angular rate error. -// @Range 10 to 200, 1 increments -PARAM_DEFINE_FLOAT(FW_YR_P, 0.05); +/** + * 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); -// @DisplayName Yaw rate 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 +/** + * 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); -// @DisplayName Yaw rate integrator limit -// @Description The portion of the integrator part in the control surface deflection is limited to this value -// @Range 0.0 to 1 -// @Increment 0.1 +/** + * 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); -// @DisplayName Maximum Yaw Rate -// @Description This limits the maximum yaw 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_Y_RMAX, 0); +/** + * 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); -// @DisplayName Roll rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * 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); -// @DisplayName Pitch rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * 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); -// @DisplayName Yaw rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * 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); -// @DisplayName Minimal speed for yaw coordination -// @Description For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. -// @Range 0 to 90.0 degrees per seconds -// @Increment 1.0 +/** + * 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 positon controller */ +/* Airspeed parameters: + * The following parameters about airspeed are used by the attitude and the + * position controller. + * */ -// @DisplayName Minimum Airspeed -// @Description If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively -// @Range 0.0 to 30 +/** + * 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); -// @DisplayName Trim Airspeed -// @Description The TECS controller tries to fly at this airspeed -// @Range 0.0 to 30 +/** + * 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); -// @DisplayName Maximum Airspeed -// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively -// @Range 0.0 to 30 +/** + * 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); -// @DisplayName Roll Setpoint Offset -// @Description 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 -// @Range -90.0 to 90.0 +/** + * 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); -// @DisplayName Pitch Setpoint Offset -// @Description 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 -// @Range -90.0 to 90.0 +/** + * 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); -// @DisplayName Max Manual Roll -// @Description Max roll for manual control in attitude stabilized mode -// @Range 0.0 to 90.0 +/** + * 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); -// @DisplayName Max Manual Pitch -// @Description Max pitch for manual control in attitude stabilized mode -// @Range 0.0 to 90.0 +/** + * 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); |