diff options
Diffstat (limited to 'src/modules/segway/params.c')
-rw-r--r-- | src/modules/segway/params.c | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/src/modules/segway/params.c b/src/modules/segway/params.c new file mode 100644 index 000000000..db30af416 --- /dev/null +++ b/src/modules/segway/params.c @@ -0,0 +1,72 @@ +#include <systemlib/param/param.h> + +// currently tuned for easystar from arkhangar in HIL +//https://github.com/arktools/arkhangar + +// 16 is max name length + +// gyro low pass filter +PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq + +// yaw washout +PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass + +// stabilization mode +PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron +PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator +PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder + +// psi -> phi -> p +PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll +PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate +PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg + +// velocity -> theta +PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain +PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass +PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard +PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle +PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle + + +// theta -> q +PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID +PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f); + +// h -> thr +PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID +PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f); + +// crosstrack +PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg +PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain + +// speed command +PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f); // minimum commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f); // commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity + +// rate of climb +// this is what rate of climb is commanded (in m/s) +// when the pitch stick is fully defelcted in simple mode +PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f); + +// climb rate -> thr +PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID +PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f); + +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s |