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fw att controller: update parameter descriptions and default values

sbg
Thomas Gubler 11 years ago
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70cc5413b4
1 changed files with 87 additions and 38 deletions
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  1. 125
      src/modules/fw_att_control/fw_att_control_params.c

125
src/modules/fw_att_control/fw_att_control_params.c
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@ -38,68 +38,67 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Parameters defined by the fixed-wing attitude control task * Parameters defined by the fixed-wing attitude control task
* *
* @author Lorenz Meier <lm@inf.ethz.ch> * @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
//XXX resolve unclear naming of paramters: FW_P_P --> FW_PR_P
/* /*
* Controller parameters, accessible via MAVLink * Controller parameters, accessible via MAVLink
* *
*/ */
//xxx: update descriptions
// @DisplayName Attitude Time Constant // @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. // @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 // @Range 0.4 to 1.0 seconds, in tens of seconds
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
// @DisplayName Proportional gain. // @DisplayName Pitch rate proportional gain.
// @Description This defines how much the elevator input will be commanded dependend on the current pitch error. // @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 // @Range 10 to 200, 1 increments
PARAM_DEFINE_FLOAT(FW_PR_P, 0.3f); PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
// @DisplayName Damping gain. // @DisplayName Damping gain.
// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings. // @Description This gain damps the airframe pitch rate. In particular relevant for flying wings.
// @Range 0.0 to 10.0, 0.1 increments // @Range 0.0 to 10.0, 0.1 increments
PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove
// @DisplayName Integrator gain. // @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. // @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 // @Range 0 to 50.0
PARAM_DEFINE_FLOAT(FW_PR_I, 0.05f); PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
// @DisplayName Maximum positive / up pitch rate. // @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. // @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 // @Range 0 to 90.0 degrees per seconds, in 1 increments
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
// @DisplayName Maximum negative / down pitch rate. // @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. // @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 // @Range 0 to 90.0 degrees per seconds, in 1 increments
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
// @DisplayName Pitch Integrator Anti-Windup // @DisplayName Pitch rate integrator limit
// @Description This limits the range in degrees the integrator can wind up to. // @Description The portion of the integrator part in the control surface deflection is limited to this value
// @Range 0.0 to 45.0 // @Range 0.0 to 1
// @Increment 1.0 // @Increment 0.1
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @DisplayName Roll feedforward gain. // @DisplayName Roll to Pitch feedforward gain.
// @Description This compensates during turns and ensures the nose stays level. // @Description This compensates during turns and ensures the nose stays level.
// @Range 0.5 2.0 // @Range 0.5 2.0
// @Increment 0.05 // @Increment 0.05
// @User User // @User User
PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 1.0f); PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
// @DisplayName Proportional Gain. // @DisplayName Roll rate proportional Gain.
// @Description This gain controls the roll angle to roll actuator output. // @Description This defines how much the aileron input will be commanded depending on the current body angular rate error.
// @Range 10.0 200.0 // @Range 10.0 200.0
// @Increment 10.0 // @Increment 10.0
// @User User // @User User
PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f); PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
// @DisplayName Damping Gain // @DisplayName Damping Gain
// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence. // @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence.
@ -108,37 +107,87 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f);
// @User User // @User User
PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove
// @DisplayName Integrator Gain // @DisplayName Roll rate integrator Gain
// @Description This gain controls the contribution of the integral to roll actuator outputs. It trims out steady state errors. // @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 // @Range 0.0 100.0
// @Increment 5.0 // @Increment 5.0
// @User User // @User User
PARAM_DEFINE_FLOAT(FW_RR_I, 0.05f); PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
// @DisplayName Roll Integrator Anti-Windup // @DisplayName Roll Integrator Anti-Windup
// @Description This limits the range in degrees the integrator can wind up to. // @Description The portion of the integrator part in the control surface deflection is limited to this value.
// @Range 0.0 to 45.0 // @Range 0.0 to 1.0
// @Increment 1.0 // @Increment 0.1
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
// @DisplayName Maximum Roll Rate // @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. // @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 // @Range 0 to 90.0 degrees per seconds
// @Increment 1.0 // @Increment 1.0
PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); 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);
PARAM_DEFINE_FLOAT(FW_YR_P, 0.5); // @DisplayName Yaw rate integrator gain.
PARAM_DEFINE_FLOAT(FW_YR_I, 0.05); // @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); PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f); // @DisplayName Maximum Yaw Rate
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 18.0f); // @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 60); // @Range 0 to 90.0 degrees per seconds
PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1.0f); // @Increment 1.0
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0);
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.0f); // @DisplayName Roll rate feed forward
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.0f); // @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);

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