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-rw-r--r--src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp27
-rw-r--r--src/lib/ecl/attitude_fw/ecl_pitch_controller.h1
-rw-r--r--src/lib/ecl/attitude_fw/ecl_roll_controller.cpp25
-rw-r--r--src/lib/ecl/attitude_fw/ecl_roll_controller.h1
-rw-r--r--src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp30
-rw-r--r--src/lib/ecl/attitude_fw/ecl_yaw_controller.h1
-rw-r--r--src/modules/fw_att_control/fw_att_control_main.cpp79
-rw-r--r--src/modules/fw_att_control/fw_att_control_params.c33
8 files changed, 100 insertions, 97 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 4b43e73e6..4e27de45c 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -45,14 +45,14 @@
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
+#include <systemlib/err.h>
ECL_PitchController::ECL_PitchController() :
_last_run(0),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
- _rate_setpoint(0.0f),
- _max_deflection_rad(math::radians(45.0f))
+ _rate_setpoint(0.0f)
{
}
@@ -122,8 +122,8 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000)
lock_integrator = true;
- float k_roll_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_i_rate = _k_i * _tc;
+// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+ float k_ff = 0;
/* input conditioning */
if (!isfinite(airspeed)) {
@@ -141,18 +141,17 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
_rate_error = _bodyrate_setpoint - pitch_bodyrate;
- if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
+ if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
/*
- * anti-windup: do not allow integrator to increase into the
- * wrong direction if actuator is at limit
+ * anti-windup: do not allow integrator to increase if actuator is at limit
*/
- if (_last_output < -_max_deflection_rad) {
+ if (_last_output < -1.0f) {
/* only allow motion to center: increase value */
id = math::max(id, 0.0f);
- } else if (_last_output > _max_deflection_rad) {
+ } else if (_last_output > 1.0f) {
/* only allow motion to center: decrease value */
id = math::min(id, 0.0f);
}
@@ -162,11 +161,13 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
- float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
- /* store non-limited output */
- _last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_roll_ff)) * scaler;
+ float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
- return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+ /* Apply PI rate controller and store non-limited output */
+ _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
+// warnx("pitch: _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
+// warnx("roll: _last_output %.4f", (double)_last_output);
+ return math::constrain(_last_output, -1.0f, 1.0f);
}
void ECL_PitchController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index ef6129d02..ba8ed3e6f 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -120,7 +120,6 @@ private:
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
- float _max_deflection_rad;
};
#endif // ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 658a0a501..0772f88bc 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -54,8 +54,7 @@ ECL_RollController::ECL_RollController() :
_integrator(0.0f),
_rate_error(0.0f),
_rate_setpoint(0.0f),
- _bodyrate_setpoint(0.0f),
- _max_deflection_rad(math::radians(45.0f))
+ _bodyrate_setpoint(0.0f)
{
}
@@ -92,10 +91,11 @@ float ECL_RollController::control_bodyrate(float pitch,
if (dt_micros > 500000)
lock_integrator = true;
- float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_i_rate = _k_i * _tc;
+// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+ float k_ff = 0; //xxx: param
/* input conditioning */
+// warnx("airspeed pre %.4f", (double)airspeed);
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
airspeed = 0.5f * (airspeed_min + airspeed_max);
@@ -113,18 +113,17 @@ float ECL_RollController::control_bodyrate(float pitch,
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error
- if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
+ if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
/*
- * anti-windup: do not allow integrator to increase into the
- * wrong direction if actuator is at limit
+ * anti-windup: do not allow integrator to increase if actuator is at limit
*/
- if (_last_output < -_max_deflection_rad) {
+ if (_last_output < -1.0f) {
/* only allow motion to center: increase value */
id = math::max(id, 0.0f);
- } else if (_last_output > _max_deflection_rad) {
+ } else if (_last_output > 1.0f) {
/* only allow motion to center: decrease value */
id = math::min(id, 0.0f);
}
@@ -134,13 +133,13 @@ float ECL_RollController::control_bodyrate(float pitch,
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
- float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
+ float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);
- /* store non-limited output */
- _last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
+ /* Apply PI rate controller and store non-limited output */
+ _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
- return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+ return math::constrain(_last_output, -1.0f, 1.0f);
}
void ECL_RollController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index f94db0dc7..dd7d1bf53 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -112,7 +112,6 @@ private:
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
- float _max_deflection_rad;
};
#endif // ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index b6938a59a..0de0eb439 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -54,7 +54,6 @@ ECL_YawController::ECL_YawController() :
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
- _max_deflection_rad(math::radians(45.0f)),
_coordinated(1.0f)
{
@@ -106,8 +105,9 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
lock_integrator = true;
- float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_i_rate = _k_i * _tc;
+// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
+ float k_ff = 0;
+
/* input conditioning */
if (!isfinite(airspeed)) {
@@ -119,26 +119,25 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* Transform setpoint to body angular rates */
- _bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint * cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
+ _bodyrate_setpoint = -sinf(roll) * pitch_rate_setpoint + cosf(roll)*cosf(pitch) * _rate_setpoint; //jacobian
/* Transform estimation to body angular rates */
- float yaw_bodyrate = -sinf(roll) * pitch_rate * cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
+ float yaw_bodyrate = -sinf(roll) * pitch_rate + cosf(roll)*cosf(pitch) * yaw_rate; //jacobian
/* Calculate body angular rate error */
_rate_error = _bodyrate_setpoint - yaw_bodyrate; //body angular rate error
- if (!lock_integrator && k_i_rate > 0.0f && airspeed > 0.5f * airspeed_min) {
+ if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {
float id = _rate_error * dt;
/*
- * anti-windup: do not allow integrator to increase into the
- * wrong direction if actuator is at limit
+ * anti-windup: do not allow integrator to increase if actuator is at limit
*/
- if (_last_output < -_max_deflection_rad) {
+ if (_last_output < -1.0f) {
/* only allow motion to center: increase value */
id = math::max(id, 0.0f);
- } else if (_last_output > _max_deflection_rad) {
+ } else if (_last_output > 1.0f) {
/* only allow motion to center: decrease value */
id = math::min(id, 0.0f);
}
@@ -148,11 +147,14 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* integrator limit */
//xxx: until start detection is available: integral part in control signal is limited here
- float integrator_constrained = math::constrain(_integrator * k_i_rate, -_integrator_max, _integrator_max);
- /* store non-limited output */
- _last_output = ((_rate_error * _k_d * scaler) + integrator_constrained * scaler + (_rate_setpoint * k_ff)) * scaler;
+ float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
+
+ /* Apply PI rate controller and store non-limited output */
+ _last_output = (_rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed
+ //warnx("yaw:_last_output: %.4f, _integrator: %.4f, _integrator_max: %.4f, airspeed %.4f, _k_i %.4f, _k_p: %.4f", (double)_last_output, (double)_integrator, (double)_integrator_max, (double)airspeed, (double)_k_i, (double)_k_p);
+
- return math::constrain(_last_output, -_max_deflection_rad, _max_deflection_rad);
+ return math::constrain(_last_output, -1.0f, 1.0f);
}
void ECL_YawController::reset_integrator()
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index 0250fcb35..5c00fa873 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -117,7 +117,6 @@ private:
float _rate_error;
float _rate_setpoint;
float _bodyrate_setpoint;
- float _max_deflection_rad;
float _coordinated;
};
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 91981b08a..78952cb8d 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -156,6 +156,7 @@ private:
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated;
+ float y_rmax;
float airspeed_min;
float airspeed_trim;
@@ -183,6 +184,7 @@ private:
param_t y_roll_feedforward;
param_t y_integrator_max;
param_t y_coordinated;
+ param_t y_rmax;
param_t airspeed_min;
param_t airspeed_trim;
@@ -286,25 +288,26 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_airspeed_valid(false)
{
_parameter_handles.tconst = param_find("FW_ATT_TC");
- _parameter_handles.p_p = param_find("FW_P_P");
- _parameter_handles.p_d = param_find("FW_P_D");
- _parameter_handles.p_i = param_find("FW_P_I");
+ _parameter_handles.p_p = param_find("FW_PR_P");
+ _parameter_handles.p_d = param_find("FW_PR_D");
+ _parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
- _parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
+ _parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
- _parameter_handles.r_p = param_find("FW_R_P");
- _parameter_handles.r_d = param_find("FW_R_D");
- _parameter_handles.r_i = param_find("FW_R_I");
- _parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
+ _parameter_handles.r_p = param_find("FW_RR_P");
+ _parameter_handles.r_d = param_find("FW_RR_D");
+ _parameter_handles.r_i = param_find("FW_RR_I");
+ _parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
- _parameter_handles.y_p = param_find("FW_Y_P");
- _parameter_handles.y_i = param_find("FW_Y_I");
- _parameter_handles.y_d = param_find("FW_Y_D");
+ _parameter_handles.y_p = param_find("FW_YR_P");
+ _parameter_handles.y_i = param_find("FW_YR_I");
+ _parameter_handles.y_d = param_find("FW_YR_D");
_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
- _parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
+ _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
+ _parameter_handles.y_rmax = param_find("FW_Y_RMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -366,6 +369,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated, &(_parameters.y_coordinated));
+ param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
@@ -373,29 +377,30 @@ FixedwingAttitudeControl::parameters_update()
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
- _pitch_ctrl.set_k_p(math::radians(_parameters.p_p));
- _pitch_ctrl.set_k_i(math::radians(_parameters.p_i));
- _pitch_ctrl.set_k_d(math::radians(_parameters.p_d));
- _pitch_ctrl.set_integrator_max(math::radians(_parameters.p_integrator_max));
+ _pitch_ctrl.set_k_p(_parameters.p_p);
+ _pitch_ctrl.set_k_i(_parameters.p_i);
+ _pitch_ctrl.set_k_d(_parameters.p_d);
+ _pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
- _pitch_ctrl.set_roll_ff(math::radians(_parameters.p_roll_feedforward));
+ _pitch_ctrl.set_roll_ff(_parameters.p_roll_feedforward);
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.tconst);
- _roll_ctrl.set_k_p(math::radians(_parameters.r_p));
- _roll_ctrl.set_k_i(math::radians(_parameters.r_i));
- _roll_ctrl.set_k_d(math::radians(_parameters.r_d));
- _roll_ctrl.set_integrator_max(math::radians(_parameters.r_integrator_max));
+ _roll_ctrl.set_k_p(_parameters.r_p);
+ _roll_ctrl.set_k_i(_parameters.r_i);
+ _roll_ctrl.set_k_d(_parameters.r_d);
+ _roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
/* yaw control parameters */
- _yaw_ctrl.set_k_p(math::radians(_parameters.y_p));
- _yaw_ctrl.set_k_i(math::radians(_parameters.y_i));
- _yaw_ctrl.set_k_d(math::radians(_parameters.y_d));
- _yaw_ctrl.set_k_roll_ff(math::radians(_parameters.y_roll_feedforward));
- _yaw_ctrl.set_integrator_max(math::radians(_parameters.y_integrator_max));
+ _yaw_ctrl.set_k_p(_parameters.y_p);
+ _yaw_ctrl.set_k_i(_parameters.y_i);
+ _yaw_ctrl.set_k_d(_parameters.y_d);
+ _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward);
+ _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated(_parameters.y_coordinated);
+ _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
return OK;
}
@@ -437,6 +442,7 @@ FixedwingAttitudeControl::vehicle_airspeed_poll()
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
+// warnx("airspeed poll: ind: %.4f, true: %.4f", _airspeed.indicated_airspeed_m_s, _airspeed.true_airspeed_m_s);
return true;
}
@@ -596,9 +602,6 @@ FixedwingAttitudeControl::task_main()
if (_vcontrol_mode.flag_control_attitude_enabled) {
- /* scale from radians to normalized -1 .. 1 range */
- const float actuator_scaling = 1.0f / (M_PI_F / 4.0f);
-
/* scale around tuning airspeed */
float airspeed;
@@ -670,9 +673,9 @@ FixedwingAttitudeControl::task_main()
float speed_body_u = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
- speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[0][1] * _global_pos.vy + _att.R[0][2] * _global_pos.vz;
-// speed_body_v = _att.R[1][0] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[1][2] * _global_pos.vz;
- speed_body_w = _att.R[2][0] * _global_pos.vx + _att.R[2][1] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
+ speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz;
+// speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz;
+ speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
} else {
warnx("Did not get a valid R\n");
}
@@ -685,23 +688,23 @@ FixedwingAttitudeControl::task_main()
_roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate()); //runs last, because is depending on output of roll and pitch attitude
/* Run attitude RATE controllers which need the desired attitudes from above */
- float roll_rad = _roll_ctrl.control_bodyrate(_att.pitch,
+ float roll_u = _roll_ctrl.control_bodyrate(_att.pitch,
_att.rollspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
- _actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
+ _actuators.control[0] = (isfinite(roll_u)) ? roll_u : 0.0f;
- float pitch_rad = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
+ float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed,
_yaw_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
- _actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;
+ _actuators.control[1] = (isfinite(pitch_u)) ? pitch_u : 0.0f;
- float yaw_rad = _yaw_ctrl.control_bodyrate( _att.roll, _att.pitch,
+ float yaw_u = _yaw_ctrl.control_bodyrate( _att.roll, _att.pitch,
_att.pitchspeed, _att.yawspeed,
_pitch_ctrl.get_desired_rate(),
_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
- _actuators.control[2] = (isfinite(yaw_rad)) ? yaw_rad * actuator_scaling : 0.0f;
+ _actuators.control[2] = (isfinite(yaw_u)) ? yaw_u : 0.0f;
/* throttle passed through */
_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
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 39b78e20a..41e37e61f 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -44,13 +44,13 @@
#include <systemlib/param/param.h>
-//XXX resolve unclear naming of paramters: FW_P_D --> FW_PR_P
+//XXX resolve unclear naming of paramters: FW_P_P --> FW_PR_P
/*
* Controller parameters, accessible via MAVLink
*
*/
-
+//xxx: update descriptions
// @DisplayName Attitude Time Constant
// @Description This defines the latency between a step input and the achieved setpoint. 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
@@ -59,33 +59,33 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
// @DisplayName Proportional gain.
// @Description This defines how much the elevator input will be commanded dependend on the current pitch error.
// @Range 10 to 200, 1 increments
-PARAM_DEFINE_FLOAT(FW_P_P, 40.0f);
+PARAM_DEFINE_FLOAT(FW_PR_P, 0.3f);
// @DisplayName Damping gain.
// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings.
// @Range 0.0 to 10.0, 0.1 increments
-PARAM_DEFINE_FLOAT(FW_P_D, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove
// @DisplayName 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
-PARAM_DEFINE_FLOAT(FW_P_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_PR_I, 0.05f);
// @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
-PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
+PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
// @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
-PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
+PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
// @DisplayName Pitch Integrator Anti-Windup
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
-PARAM_DEFINE_FLOAT(FW_P_IMAX, 0.2f);
+PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @DisplayName Roll feedforward gain.
// @Description This compensates during turns and ensures the nose stays level.
@@ -99,27 +99,27 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 1.0f);
// @Range 10.0 200.0
// @Increment 10.0
// @User User
-PARAM_DEFINE_FLOAT(FW_R_P, 40.0f);
+PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f);
// @DisplayName Damping Gain
// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence.
// @Range 0.0 10.0
// @Increment 1.0
// @User User
-PARAM_DEFINE_FLOAT(FW_R_D, 0.0f);
+PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove
// @DisplayName Integrator Gain
// @Description This gain controls the contribution of the integral to roll actuator outputs. It trims out steady state errors.
// @Range 0.0 100.0
// @Increment 5.0
// @User User
-PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
+PARAM_DEFINE_FLOAT(FW_RR_I, 0.05f);
// @DisplayName Roll Integrator Anti-Windup
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
-PARAM_DEFINE_FLOAT(FW_R_IMAX, 0.2f);
+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.
@@ -128,12 +128,13 @@ PARAM_DEFINE_FLOAT(FW_R_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
-PARAM_DEFINE_FLOAT(FW_Y_P, 0);
-PARAM_DEFINE_FLOAT(FW_Y_I, 0);
-PARAM_DEFINE_FLOAT(FW_Y_IMAX, 0.2f);
-PARAM_DEFINE_FLOAT(FW_Y_D, 0);
+PARAM_DEFINE_FLOAT(FW_YR_P, 0.5);
+PARAM_DEFINE_FLOAT(FW_YR_I, 0.05);
+PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
+PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f);
+PARAM_DEFINE_FLOAT(FW_Y_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_Y_COORD, 1.0f);
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-14 15:15:32 +0000