diff options
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 57 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 176 |
2 files changed, 233 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 0b111f7bd..a1bc5c24e 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -199,6 +199,19 @@ private: float l1_period; float l1_damping; + float time_const; + float min_sink_rate; + float max_sink_rate; + float max_climb_rate; + float throttle_damp; + float integrator_gain; + float vertical_accel_limit; + float height_comp_filter_omega; + float speed_comp_filter_omega; + float roll_throttle_compensation; + float speed_weight; + float pitch_damping; + float airspeed_min; float airspeed_trim; float airspeed_max; @@ -226,6 +239,19 @@ private: param_t l1_period; param_t l1_damping; + param_t time_const; + param_t min_sink_rate; + param_t max_sink_rate; + param_t max_climb_rate; + param_t throttle_damp; + param_t integrator_gain; + param_t vertical_accel_limit; + param_t height_comp_filter_omega; + param_t speed_comp_filter_omega; + param_t roll_throttle_compensation; + param_t speed_weight; + param_t pitch_damping; + param_t airspeed_min; param_t airspeed_trim; param_t airspeed_max; @@ -438,6 +464,21 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); _parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT"); + _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); + _parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN"); + _parameter_handles.max_sink_rate = param_find("FW_T_SINK_MAX"); + _parameter_handles.max_climb_rate = param_find("FW_T_CLMB_MAX"); + _parameter_handles.throttle_damp = param_find("FW_T_THR_DAMP"); + _parameter_handles.integrator_gain = param_find("FW_T_INTEG_GAIN"); + _parameter_handles.vertical_accel_limit = param_find("FW_T_VERT_ACC"); + _parameter_handles.height_comp_filter_omega = param_find("FW_T_HGT_OMEGA"); + _parameter_handles.speed_comp_filter_omega = param_find("FW_T_SPD_OMEGA"); + _parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR"); + _parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT"); + _parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP"); + _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P"); + _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P"); + /* fetch initial parameter values */ parameters_update(); } @@ -488,6 +529,22 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max)); + param_get(_parameter_handles.time_const, &(_parameters.time_const)); + param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate)); + param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate)); + param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp)); + param_get(_parameter_handles.integrator_gain, &(_parameters.integrator_gain)); + param_get(_parameter_handles.vertical_accel_limit, &(_parameters.vertical_accel_limit)); + param_get(_parameter_handles.height_comp_filter_omega, &(_parameters.height_comp_filter_omega)); + param_get(_parameter_handles.speed_comp_filter_omega, &(_parameters.speed_comp_filter_omega)); + param_get(_parameter_handles.roll_throttle_compensation, &(_parameters.roll_throttle_compensation)); + param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight)); + param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping)); + param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate)); + + param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p)); + param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); + param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 27039ff51..52128e1b7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -155,6 +155,182 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); /** + * Maximum climb rate + * + * This is the best climb rate that the aircraft can achieve with + * the throttle set to THR_MAX and the airspeed set to the + * default value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * The setting of this parameter can be checked by commanding a positive + * altitude change of 100m in loiter, RTL or guided mode. If the throttle + * required to climb is close to THR_MAX and the aircraft is maintaining + * airspeed, then this parameter is set correctly. If the airspeed starts + * to reduce, then the parameter is set to high, and if the throttle + * demand required to climb and maintain speed is noticeably less than + * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or + * FW_THR_MAX reduced. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); + +/** + * Minimum descent rate + * + * This is the sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); + +/** + * Maximum descent rate + * + * This sets the maximum descent rate that the controller will use. + * If this value is too large, the aircraft can over-speed on descent. + * This should be set to a value that can be achieved without + * exceeding the lower pitch angle limit and without over-speeding + * the aircraft. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); + +/** + * TECS time constant + * + * This is the time constant of the TECS control algorithm (in seconds). + * Smaller values make it faster to respond, larger values make it slower + * to respond. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); + +/** + * Throttle damping factor + * + * This is the damping gain for the throttle demand loop. + * Increase to add damping to correct for oscillations in speed and height. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); + +/** + * Integrator gain + * + * This is the integrator gain on the control loop. + * Increasing this gain increases the speed at which speed + * and height offsets are trimmed out, but reduces damping and + * increases overshoot. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); + +/** + * Maximum vertical acceleration + * + * This is the maximum vertical acceleration (in metres/second square) + * either up or down that the controller will use to correct speed + * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) + * allows for reasonably aggressive pitch changes if required to recover + * from under-speed conditions. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); + +/** + * Complementary filter "omega" parameter for height + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse vertical acceleration and barometric height to obtain + * an estimate of height rate and height. Increasing this frequency weights + * the solution more towards use of the barometer, whilst reducing it weights + * the solution more towards use of the accelerometer data. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); + +/** + * Complementary filter "omega" parameter for speed + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse longitudinal acceleration and airspeed to obtain an + * improved airspeed estimate. Increasing this frequency weights the solution + * more towards use of the arispeed sensor, whilst reducing it weights the + * solution more towards use of the accelerometer data. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); + +/** + * Roll -> Throttle feedforward + * + * Increasing this gain turn increases the amount of throttle that will + * be used to compensate for the additional drag created by turning. + * Ideally this should be set to approximately 10 x the extra sink rate + * in m/s created by a 45 degree bank turn. Increase this gain if + * the aircraft initially loses energy in turns and reduce if the + * aircraft initially gains energy in turns. Efficient high aspect-ratio + * aircraft (eg powered sailplanes) can use a lower value, whereas + * inefficient low aspect-ratio models (eg delta wings) can use a higher value. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); + +/** + * Speed <--> Altitude priority + * + * This parameter adjusts the amount of weighting that the pitch control + * applies to speed vs height errors. Setting it to 0.0 will cause the + * pitch control to control height and ignore speed errors. This will + * normally improve height accuracy but give larger airspeed errors. + * Setting it to 2.0 will cause the pitch control loop to control speed + * and ignore height errors. This will normally reduce airspeed errors, + * but give larger height errors. The default value of 1.0 allows the pitch + * control to simultaneously control height and speed. + * Note to Glider Pilots - set this parameter to 2.0 (The glider will + * adjust its pitch angle to maintain airspeed, ignoring changes in height). + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); + +/** + * Pitch damping factor + * + * This is the damping gain for the pitch demand loop. Increase to add + * damping to correct for oscillations in height. The default value of 0.0 + * will work well provided the pitch to servo controller has been tuned + * properly. + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); + +/** + * Height rate P factor + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); + +/** + * Speed rate P factor + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); + +/** * Landing slope angle * * @group L1 Control |