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/****************************************************************************
*
f * Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* 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 fw_att_control_params.c
*
* Parameters defined by the fixed-wing attitude control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*
*/
// @DisplayName Attitude Time Constant
// @Description This defines the latency between a step input and the achieved setpoint (inverse to a P gain). 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
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
// @DisplayName Pitch rate proportional gain.
// @Description This defines how much the elevator input will be commanded depending on the current body angular rate error.
// @Range 10 to 200, 1 increments
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
// @DisplayName Pitch rate 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_PR_I, 0.0f);
// @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);
// @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);
// @DisplayName Pitch rate integrator limit
// @Description The portion of the integrator part in the control surface deflection is limited to this value
// @Range 0.0 to 1
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @DisplayName Roll to Pitch feedforward gain.
// @Description This compensates during turns and ensures the nose stays level.
// @Range 0.5 2.0
// @Increment 0.05
// @User User
PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
// @DisplayName Roll rate proportional Gain.
// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error.
// @Range 10.0 200.0
// @Increment 10.0
// @User User
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
// @DisplayName Roll rate integrator Gain
// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error.
// @Range 0.0 100.0
// @Increment 5.0
// @User User
PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
// @DisplayName Roll Integrator Anti-Windup
// @Description The portion of the integrator part in the control surface deflection is limited to this value.
// @Range 0.0 to 1.0
// @Increment 0.1
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.
// @Range 0 to 90.0 degrees per seconds
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_R_RMAX, 0);
// @DisplayName Yaw rate proportional gain.
// @Description This defines how much the rudder input will be commanded depending on the current body angular rate error.
// @Range 10 to 200, 1 increments
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05);
// @DisplayName Yaw rate 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_YR_I, 0.0f);
// @DisplayName Yaw rate integrator limit
// @Description The portion of the integrator part in the control surface deflection is limited to this value
// @Range 0.0 to 1
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
// @DisplayName Maximum Yaw Rate
// @Description This limits the maximum yaw 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
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0);
// @DisplayName Roll rate feed forward
// @Description Direct feed forward from rate setpoint to control surface output
// @Range 0 to 10
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
// @DisplayName Pitch rate feed forward
// @Description Direct feed forward from rate setpoint to control surface output
// @Range 0 to 10
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f);
// @DisplayName Yaw rate feed forward
// @Description Direct feed forward from rate setpoint to control surface output
// @Range 0 to 10
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
// @DisplayName Minimal speed for yaw coordination
// @Description For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.
// @Range 0 to 90.0 degrees per seconds
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
/* Airspeed parameters: the following parameters about airspeed are used by the attitude and the positon controller */
// @DisplayName Minimum Airspeed
// @Description If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
// @DisplayName Trim Airspeed
// @Description The TECS controller tries to fly at this airspeed
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
// @DisplayName Maximum Airspeed
// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
// @Range 0.0 to 30
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
// @DisplayName Roll Setpoint Offset
// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
// @DisplayName Pitch Setpoint Offset
// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
// @Range -90.0 to 90.0
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
// @DisplayName Max Manual Roll
// @Description Max roll for manual control in attitude stabilized mode
// @Range 0.0 to 90.0
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
// @DisplayName Max Manual Pitch
// @Description Max pitch for manual control in attitude stabilized mode
// @Range 0.0 to 90.0
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
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