diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 176 |
1 files changed, 0 insertions, 176 deletions
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 52128e1b7..27039ff51 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 @@ -155,182 +155,6 @@ 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 |