diff options
author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-19 00:05:57 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-23 09:15:04 +0100 |
commit | 9c751fe9c5f604613a26b1d82e0735db44c9da3c (patch) | |
tree | 202c6c7ac62b0901c05849ee7967c24200414085 /src/modules/fw_pos_control_l1/mtecs | |
parent | 50d3fe2a1ace205f32ab9e236c3ddb1832d4f19c (diff) | |
download | px4-firmware-9c751fe9c5f604613a26b1d82e0735db44c9da3c.tar.gz px4-firmware-9c751fe9c5f604613a26b1d82e0735db44c9da3c.tar.bz2 px4-firmware-9c751fe9c5f604613a26b1d82e0735db44c9da3c.zip |
mtecs
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs')
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 152 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 113 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 198 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 231 |
4 files changed, 694 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp new file mode 100644 index 000000000..ad108e7ee --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -0,0 +1,152 @@ +/**************************************************************************** + * + * 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.cpp + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "mTecs.h" + +#include <lib/geo/geo.h> +#include <systemlib/err.h> + +namespace fwPosctrl { + +mTecs::mTecs() : + SuperBlock(NULL, "MT"), + /* Parameters */ + _mTecsEnabled(this, "ENABLED"), + /* control blocks */ + _controlTotalEnergy(this, "THR"), + _controlEnergyDistribution(this, "PIT", true), + _controlAltitude(this, "FPA", true), + _controlAirSpeed(this, "ACC"), + _airspeedDerivative(this, "AD"), + _throttleSp(0.0f), + _pitchSp(0.0f), + timestampLastIteration(hrt_absolute_time()), + _firstIterationAfterReset(true) +{ +} + +mTecs::~mTecs() +{ +} + +void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp) +{ + warnx("***"); + float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude); + warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp); + updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp); +} + +void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) { + + float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed); + warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp); + updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp); +} + +void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp) +{ + /* time measurement */ + float deltaTSeconds = 0.0f; + if (!_firstIterationAfterReset) { + hrt_abstime timestampNow = hrt_absolute_time(); + deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f; + timestampLastIteration = timestampNow; + } + setDt(deltaTSeconds); + + /* update parameters first */ + updateParams(); + + /* calculate values (energies) */ + float flightPathAngleError = flightPathAngleSp - flightPathAngle; + float airspeedDerivative = 0.0f; + if(_airspeedDerivative.getDt() > 0.0f) { + airspeedDerivative = _airspeedDerivative.update(airspeed); + } + float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G; + float airspeedSpDerivative = accelerationLongitudinalSp; + float airspeedSpDerivativeNorm = airspeedSpDerivative / CONSTANTS_ONE_G; + float airspeedSpDerivativeNormError = airspeedSpDerivativeNorm - airspeedDerivativeNorm; + + float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm; + float totalEnergyRateError = flightPathAngleError + airspeedSpDerivativeNormError; + float totalEnergyRateSp = flightPathAngleSp + airspeedSpDerivativeNorm; + float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate; + + float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm; + float energyDistributionRateError = flightPathAngleError - airspeedSpDerivativeNormError; + float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm; + float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate; + + warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f", + (double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm); + warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f", + (double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2); + + /** update control blocks **/ + /* update total energy rate control block */ + _throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError); + + /* update energy distribution rate control block */ + _pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError); + + warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f", + (double)_throttleSp, (double)_pitchSp, + (double)flightPathAngleSp, (double)flightPathAngle, + (double)accelerationLongitudinalSp, (double)airspeedDerivative); + + + /* clean up */ + _firstIterationAfterReset = false; + +} + +void mTecs::resetIntegrators() +{ + _controlTotalEnergy.getIntegral().setY(0.0f); + _controlEnergyDistribution.getIntegral().setY(0.0f); + timestampLastIteration = hrt_absolute_time(); + _firstIterationAfterReset = true; +} + +} /* namespace fwPosctrl */ + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h new file mode 100644 index 000000000..5877a8312 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * 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.h + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + + +#ifndef MTECS_H_ +#define MTECS_H_ + +#include "mTecs_blocks.h" + +#include <controllib/block/BlockParam.hpp> +#include <drivers/drv_hrt.h> + +namespace fwPosctrl +{ + +/* Main class of the mTecs */ +class mTecs : public control::SuperBlock +{ +public: + mTecs(); + virtual ~mTecs(); + + /* + * Control in altitude setpoint and speed mode + */ + void updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode + */ + void updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp); + + /* + * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) + */ + void updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp); + + /* + * Reset all integrators + */ + void resetIntegrators(); + + + /* Accessors */ + bool getEnabled() {return _mTecsEnabled.get() > 0;} + float getThrottleSetpoint() {return _throttleSp;} + float getPitchSetpoint() {return _pitchSp;} + +protected: + /* parameters */ + control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */ + + /* control blocks */ + BlockFFPILimited _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */ + BlockFFPILimited _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */ + BlockPLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */ + BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */ + + /* Other calculation Blocks */ + control::BlockDerivative _airspeedDerivative; + + /* Output setpoints */ + float _throttleSp; /**< Throttle Setpoint from 0 to 1 */ + float _pitchSp; /**< Pitch Setpoint from -pi to pi */ + + /* Time measurements */ + hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */ + + bool _firstIterationAfterReset; /**< True during the first iteration after a reset */ + +}; + +} /* namespace fwPosctrl */ + +#endif /* MTECS_H_ */ diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h new file mode 100644 index 000000000..7dd5c7c2e --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -0,0 +1,198 @@ +/**************************************************************************** + * + * 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_blocks.h + * + * Custom blocks for the mTecs + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#pragma once + +#include <controllib/blocks.hpp> +#include <systemlib/err.h> + +namespace fwPosctrl +{ + +using namespace control; + +/* Integrator without limit */ +class BlockIntegralNoLimit: public SuperBlock +{ +public: +// methods + BlockIntegralNoLimit(SuperBlock *parent, const char *name) : + SuperBlock(parent, name), + _y(0) {}; + virtual ~BlockIntegralNoLimit() {}; + float update(float input) { + setY(getY() + input * getDt()); + return getY(); + }; +// accessors + float getY() {return _y;} + void setY(float y) {_y = y;} +protected: +// attributes + float _y; /**< previous output */ +}; + +/* An block which can be used to limit the output */ +class BlockOutputLimiter: public SuperBlock +{ +public: +// methods + BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _isAngularLimit(isAngularLimit), + _min(this, "MIN"), + _max(this, "MAX") + {}; + virtual ~BlockOutputLimiter() {}; + bool limit(float& value, float& difference) { + float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); + float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", + name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); + if (value < minimum) { + difference = value - minimum; + value = minimum; + return true; + } else if (value > maximum) { + difference = value - maximum; + value = maximum; + return true; + } + return false; + } +//accessor: + bool isAngularLimit() {return _isAngularLimit ;} + float getMin() { return _min.get(); } + float getMax() { return _max.get(); } +protected: +//attributes + bool _isAngularLimit; + control::BlockParamFloat _min; + control::BlockParamFloat _max; +}; + +typedef + +/* A combination of feed forward, P and I gain using the output limiter*/ +class BlockFFPILimited: public SuperBlock +{ +public: +// methods + BlockFFPILimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _integral(this, "I"), + _kFF(this, "FF"), + _kP(this, "P"), + _kI(this, "I"), + _offset(this, "OFF"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockFFPILimited() {}; + float update(float inputValue, float inputError) { + float difference = 0.0f; + float integralYPrevious = _integral.getY(); + float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, + (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); + if(!getOutputLimiter().limit(output, difference) && + (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || + ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { + getIntegral().setY(integralYPrevious); + } + warnx("%s output limited %.2f", + name,(double)output); + return output; + } +// accessors + BlockIntegralNoLimit &getIntegral() { return _integral; } + float getKFF() { return _kFF.get(); } + float getKP() { return _kP.get(); } + float getKI() { return _kI.get(); } + float getOffset() { return _offset.get(); } + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; +private: + BlockIntegralNoLimit _integral; + BlockParamFloat _kFF; + BlockParamFloat _kP; + BlockParamFloat _kI; + BlockParamFloat _offset; + BlockOutputLimiter _outputLimiter; +}; + +/* A combination of P gain and output limiter */ +class BlockPLimited: public SuperBlock +{ +public: +// methods + BlockPLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) : + SuperBlock(parent, name), + _kP(this, "P"), + _outputLimiter(this, "", isAngularLimit) + {}; + virtual ~BlockPLimited() {}; + float update(float input) { + float difference = 0.0f; + float output = getKP() * input; + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + warnx("%s output %.2f _kP.get() %.2f, input", + name,(double)output, (double)_kP.get(), (double)input); + getOutputLimiter().limit(output, difference); + warnx("%s output limited %.2f", + name,(double)output); + return output; + } +// accessors + BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; }; + float getKP() { return _kP.get(); } +private: + control::BlockParamFloat _kP; + BlockOutputLimiter _outputLimiter; +}; + +} + diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c new file mode 100644 index 000000000..76ed95303 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * 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, 0); + +/** + * Total Energy Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); + +/** + * Total Energy Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); + +/** + * Total Energy Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); + +/** + * Total Energy Rate Control OFF (Cruise throttle) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); + +/** + * Energy Distribution Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); + +/** + * Energy Distribution Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); + +/** + * Energy Distribution Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); + + +/** + * Total Energy Distribution OFF (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, 45.0f); + +/** + * P gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); + +/** + * Minimal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); + +/** + * 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 + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); + +/** + * Minimal acceleration (air) + * + * @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MIN, 0.0f); + +/** + * Maximal acceleration (air) + * +* @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); + +/** + * Airspeed derivative lowpass + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); |