mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 07:28:54 +08:00
refactor(spacecraft): convert params.c to module.yaml
Convert 3 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
@@ -46,6 +46,10 @@ px4_add_module(
|
||||
SRCS
|
||||
SpacecraftHandler.cpp
|
||||
SpacecraftHandler.hpp
|
||||
MODULE_CONFIG
|
||||
spacecraft_attitude_params.yaml
|
||||
spacecraft_position_params.yaml
|
||||
spacecraft_rate_params.yaml
|
||||
DEPENDS
|
||||
mathlib
|
||||
px4_work_queue
|
||||
|
||||
@@ -1,183 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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 sc_att_control_params.c
|
||||
* Parameters for spacecraft attitude controller.
|
||||
*
|
||||
* @author Pedro Roque, <padr@kth.se>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Roll P gain
|
||||
*
|
||||
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 12
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLL_P, 6.5f);
|
||||
|
||||
/**
|
||||
* Pitch P gain
|
||||
*
|
||||
* Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 12
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCH_P, 6.5f);
|
||||
|
||||
/**
|
||||
* Yaw P gain
|
||||
*
|
||||
* Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAW_P, 2.8f);
|
||||
|
||||
/**
|
||||
* Yaw weight
|
||||
*
|
||||
* A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
|
||||
* Deprioritizing yaw is necessary because multicopters have much less control authority
|
||||
* in yaw compared to the other axes and it makes sense because yaw is not critical for
|
||||
* stable hovering or 3D navigation.
|
||||
*
|
||||
* For yaw control tuning use SC_YAW_P. This ratio has no impact on the yaw gain.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAW_WEIGHT, 0.4f);
|
||||
|
||||
/**
|
||||
* Max roll rate
|
||||
*
|
||||
* Limit for roll rate in manual and auto modes (except acro).
|
||||
* Has effect for large rotations in autonomous mode, to avoid large control
|
||||
* output and mixer saturation.
|
||||
*
|
||||
* This is not only limited by the vehicle's properties, but also by the maximum
|
||||
* measurement rate of the gyro.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_MAX, 220.0f);
|
||||
|
||||
/**
|
||||
* Max pitch rate
|
||||
*
|
||||
* Limit for pitch rate in manual and auto modes (except acro).
|
||||
* Has effect for large rotations in autonomous mode, to avoid large control
|
||||
* output and mixer saturation.
|
||||
*
|
||||
* This is not only limited by the vehicle's properties, but also by the maximum
|
||||
* measurement rate of the gyro.
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_MAX, 220.0f);
|
||||
|
||||
/**
|
||||
* Max yaw rate
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_MAX, 200.0f);
|
||||
|
||||
/**
|
||||
* Manual tilt input filter time constant
|
||||
*
|
||||
* Setting this parameter to 0 disables the filter
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_MAN_TILT_TAU, 0.0f);
|
||||
|
||||
/**
|
||||
* Max manual yaw rate for Stabilized, Altitude, Position mode
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0
|
||||
* @max 400
|
||||
* @decimal 0
|
||||
* @increment 10
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_MAN_Y_SCALE, 150.f);
|
||||
|
||||
/**
|
||||
* Maximal tilt angle in Stabilized or Manual mode
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0
|
||||
* @max 90
|
||||
* @decimal 0
|
||||
* @increment 1
|
||||
* @group Multicopter Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_MAN_TILT_MAX, 90.f);
|
||||
@@ -0,0 +1,131 @@
|
||||
module_name: spacecraft
|
||||
parameters:
|
||||
- group: Multicopter Position Control
|
||||
definitions:
|
||||
SC_MAN_TILT_MAX:
|
||||
description:
|
||||
short: Maximal tilt angle in Stabilized or Manual mode
|
||||
type: float
|
||||
default: 90.0
|
||||
unit: deg
|
||||
min: 0
|
||||
max: 90
|
||||
decimal: 0
|
||||
increment: 1
|
||||
- group: Spacecraft Attitude Control
|
||||
definitions:
|
||||
SC_ROLL_P:
|
||||
description:
|
||||
short: Roll P gain
|
||||
long: Roll proportional gain, i.e. desired angular speed in rad/s for error
|
||||
1 rad.
|
||||
type: float
|
||||
default: 6.5
|
||||
min: 0.0
|
||||
max: 12
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SC_PITCH_P:
|
||||
description:
|
||||
short: Pitch P gain
|
||||
long: Pitch proportional gain, i.e. desired angular speed in rad/s for error
|
||||
1 rad.
|
||||
type: float
|
||||
default: 6.5
|
||||
min: 0.0
|
||||
max: 12
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SC_YAW_P:
|
||||
description:
|
||||
short: Yaw P gain
|
||||
long: Yaw proportional gain, i.e. desired angular speed in rad/s for error
|
||||
1 rad.
|
||||
type: float
|
||||
default: 2.8
|
||||
min: 0.0
|
||||
max: 5
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SC_YAW_WEIGHT:
|
||||
description:
|
||||
short: Yaw weight
|
||||
long: |-
|
||||
A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
|
||||
Deprioritizing yaw is necessary because multicopters have much less control authority
|
||||
in yaw compared to the other axes and it makes sense because yaw is not critical for
|
||||
stable hovering or 3D navigation.
|
||||
|
||||
For yaw control tuning use SC_YAW_P. This ratio has no impact on the yaw gain.
|
||||
type: float
|
||||
default: 0.4
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SC_ROLLRATE_MAX:
|
||||
description:
|
||||
short: Max roll rate
|
||||
long: |-
|
||||
Limit for roll rate in manual and auto modes (except acro).
|
||||
Has effect for large rotations in autonomous mode, to avoid large control
|
||||
output and mixer saturation.
|
||||
|
||||
This is not only limited by the vehicle's properties, but also by the maximum
|
||||
measurement rate of the gyro.
|
||||
type: float
|
||||
default: 220.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
SC_PITCHRATE_MAX:
|
||||
description:
|
||||
short: Max pitch rate
|
||||
long: |-
|
||||
Limit for pitch rate in manual and auto modes (except acro).
|
||||
Has effect for large rotations in autonomous mode, to avoid large control
|
||||
output and mixer saturation.
|
||||
|
||||
This is not only limited by the vehicle's properties, but also by the maximum
|
||||
measurement rate of the gyro.
|
||||
type: float
|
||||
default: 220.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
SC_YAWRATE_MAX:
|
||||
description:
|
||||
short: Max yaw rate
|
||||
type: float
|
||||
default: 200.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
- group: Spacecraft Position Control
|
||||
definitions:
|
||||
SC_MAN_TILT_TAU:
|
||||
description:
|
||||
short: Manual tilt input filter time constant
|
||||
long: Setting this parameter to 0 disables the filter
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: s
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
decimal: 2
|
||||
SC_MAN_Y_SCALE:
|
||||
description:
|
||||
short: Max manual yaw rate for Stabilized, Altitude, Position mode
|
||||
type: float
|
||||
default: 150.0
|
||||
unit: deg/s
|
||||
min: 0
|
||||
max: 400
|
||||
decimal: 0
|
||||
increment: 10
|
||||
@@ -1,293 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Proportional gain for position error
|
||||
*
|
||||
* Defined as corrective velocity in m/s per m position error
|
||||
*
|
||||
* @min 0
|
||||
* @max 2
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_POS_P, 0.2f);
|
||||
|
||||
/**
|
||||
* Integral gain for position error
|
||||
*
|
||||
* Defined as corrective velocity in m/s per m velocity error
|
||||
*
|
||||
* @min 0
|
||||
* @max 15
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_POS_I, 0.f);
|
||||
|
||||
/**
|
||||
* Integral limit for position error
|
||||
*
|
||||
* Defined as corrective velocity in m/s per m velocity error
|
||||
*
|
||||
* @min 0
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_POS_I_LIM, 1.f);
|
||||
|
||||
/**
|
||||
* Proportional gain for velocity error
|
||||
*
|
||||
* Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 0
|
||||
* @max 15
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_P, 6.55f);
|
||||
|
||||
/**
|
||||
* Integral gain for velocity error
|
||||
*
|
||||
* Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 0
|
||||
* @max 15
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_I, 0.f);
|
||||
|
||||
/**
|
||||
* Integral limit for velocity error
|
||||
*
|
||||
* Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 0
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_I_LIM, 1.f);
|
||||
|
||||
/**
|
||||
* Derivative gain for velocity error
|
||||
*
|
||||
* Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 15
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_D, 0.0f);
|
||||
|
||||
/**
|
||||
* Maximum velocity
|
||||
*
|
||||
* Absolute maximum for all velocity controlled modes.
|
||||
* Any higher value is truncated.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0
|
||||
* @max 20
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_MAX, 12.f);
|
||||
|
||||
/**
|
||||
* Overall Velocity Limit
|
||||
*
|
||||
* If set to a value greater than zero, other parameters are automatically set (such as
|
||||
* MPC_VEL_MAX or MPC_VEL_MANUAL).
|
||||
* If set to a negative value, the existing individual parameters are used.
|
||||
*
|
||||
* @min -20
|
||||
* @max 20
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_ALL, -10.f);
|
||||
|
||||
/**
|
||||
* Cruising elocity setpoint in autonomous modes
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3
|
||||
* @max 20
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_CRUISE, 10.f);
|
||||
|
||||
/**
|
||||
* Maximum velocity setpoint in Position mode
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 3
|
||||
* @max 20
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VEL_MANUAL, 10.f);
|
||||
|
||||
/**
|
||||
* Maximum collective thrust
|
||||
*
|
||||
* Limit allowed thrust
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_THR_MAX, 1.f);
|
||||
|
||||
/**
|
||||
* Acceleration for autonomous and for manual modes
|
||||
*
|
||||
* When piloting manually, this parameter is only used in MPC_POS_MODE 4.
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2
|
||||
* @max 15
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_ACC, 3.f);
|
||||
|
||||
/**
|
||||
* Maximum accelaration in autonomous modes
|
||||
*
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 2
|
||||
* @max 15
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_ACC_MAX, 5.f);
|
||||
|
||||
/**
|
||||
* Jerk limit in autonomous modes
|
||||
*
|
||||
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
||||
* A lower value leads to smoother vehicle motions but also limited agility.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 1
|
||||
* @max 80
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_JERK_AUTO, 4.f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(SPC_VEHICLE_RESP, 0.5f);
|
||||
/**
|
||||
* Maximum jerk in Position/Altitude mode
|
||||
*
|
||||
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
||||
* A lower value leads to smoother motions but limits agility
|
||||
* (how fast it can change directions or break).
|
||||
*
|
||||
* Setting this to the maximum value essentially disables the limit.
|
||||
*
|
||||
* Only used with smooth MPC_POS_MODE 3 and 4.
|
||||
*
|
||||
* @unit m/s^3
|
||||
* @min 0.5
|
||||
* @max 500
|
||||
* @decimal 0
|
||||
* @increment 1
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_JERK_MAX, 8.f);
|
||||
|
||||
/**
|
||||
* Max manual yaw rate for Stabilized, Altitude, Position mode
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0
|
||||
* @max 400
|
||||
* @decimal 0
|
||||
* @increment 10
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_MAN_Y_MAX, 150.f);
|
||||
|
||||
/**
|
||||
* Manual yaw rate input filter time constant
|
||||
*
|
||||
* Not used in Stabilized mode
|
||||
* Setting this parameter to 0 disables the filter
|
||||
*
|
||||
* @unit s
|
||||
* @min 0
|
||||
* @max 5
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_MAN_Y_TAU, 0.08f);
|
||||
|
||||
/**
|
||||
* Numerical velocity derivative low pass cutoff frequency
|
||||
*
|
||||
* @unit Hz
|
||||
* @min 0
|
||||
* @max 10
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Spacecraft Position Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SPC_VELD_LP, 5.0f);
|
||||
@@ -0,0 +1,224 @@
|
||||
module_name: spacecraft
|
||||
parameters:
|
||||
- group: Spacecraft Position Control
|
||||
definitions:
|
||||
SPC_POS_P:
|
||||
description:
|
||||
short: Proportional gain for position error
|
||||
long: Defined as corrective velocity in m/s per m position error
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0
|
||||
max: 2
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_POS_I:
|
||||
description:
|
||||
short: Integral gain for position error
|
||||
long: Defined as corrective velocity in m/s per m velocity error
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0
|
||||
max: 15
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_POS_I_LIM:
|
||||
description:
|
||||
short: Integral limit for position error
|
||||
long: Defined as corrective velocity in m/s per m velocity error
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0
|
||||
max: 5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SPC_VEL_P:
|
||||
description:
|
||||
short: Proportional gain for velocity error
|
||||
long: Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
type: float
|
||||
default: 6.55
|
||||
min: 0
|
||||
max: 15
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_VEL_I:
|
||||
description:
|
||||
short: Integral gain for velocity error
|
||||
long: Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0
|
||||
max: 15
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_VEL_I_LIM:
|
||||
description:
|
||||
short: Integral limit for velocity error
|
||||
long: Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0
|
||||
max: 5
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_VEL_D:
|
||||
description:
|
||||
short: Derivative gain for velocity error
|
||||
long: Defined as corrective acceleration in m/s^2 per m/s velocity error
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
max: 15
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
SPC_VEL_MAX:
|
||||
description:
|
||||
short: Maximum velocity
|
||||
long: |-
|
||||
Absolute maximum for all velocity controlled modes.
|
||||
Any higher value is truncated.
|
||||
type: float
|
||||
default: 12.0
|
||||
unit: m/s
|
||||
min: 0
|
||||
max: 20
|
||||
decimal: 1
|
||||
increment: 1
|
||||
SPC_VEL_ALL:
|
||||
description:
|
||||
short: Overall Velocity Limit
|
||||
long: |-
|
||||
If set to a value greater than zero, other parameters are automatically set (such as
|
||||
MPC_VEL_MAX or MPC_VEL_MANUAL).
|
||||
If set to a negative value, the existing individual parameters are used.
|
||||
type: float
|
||||
default: -10.0
|
||||
min: -20
|
||||
max: 20
|
||||
decimal: 1
|
||||
increment: 1
|
||||
SPC_VEL_CRUISE:
|
||||
description:
|
||||
short: Cruising elocity setpoint in autonomous modes
|
||||
type: float
|
||||
default: 10.0
|
||||
unit: m/s
|
||||
min: 3
|
||||
max: 20
|
||||
increment: 1
|
||||
decimal: 1
|
||||
SPC_VEL_MANUAL:
|
||||
description:
|
||||
short: Maximum velocity setpoint in Position mode
|
||||
type: float
|
||||
default: 10.0
|
||||
unit: m/s
|
||||
min: 3
|
||||
max: 20
|
||||
increment: 1
|
||||
decimal: 1
|
||||
SPC_THR_MAX:
|
||||
description:
|
||||
short: Maximum collective thrust
|
||||
long: Limit allowed thrust
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: norm
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
SPC_ACC:
|
||||
description:
|
||||
short: Acceleration for autonomous and for manual modes
|
||||
long: When piloting manually, this parameter is only used in MPC_POS_MODE
|
||||
4.
|
||||
type: float
|
||||
default: 3.0
|
||||
unit: m/s^2
|
||||
min: 2
|
||||
max: 15
|
||||
decimal: 1
|
||||
increment: 1
|
||||
SPC_ACC_MAX:
|
||||
description:
|
||||
short: Maximum accelaration in autonomous modes
|
||||
type: float
|
||||
default: 5.0
|
||||
unit: m/s^2
|
||||
min: 2
|
||||
max: 15
|
||||
decimal: 1
|
||||
increment: 1
|
||||
SPC_JERK_AUTO:
|
||||
description:
|
||||
short: Jerk limit in autonomous modes
|
||||
long: |-
|
||||
Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
||||
A lower value leads to smoother vehicle motions but also limited agility.
|
||||
type: float
|
||||
default: 4.0
|
||||
unit: m/s^3
|
||||
min: 1
|
||||
max: 80
|
||||
decimal: 1
|
||||
increment: 1
|
||||
SPC_JERK_MAX:
|
||||
description:
|
||||
short: Maximum jerk in Position/Altitude mode
|
||||
long: |-
|
||||
Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
||||
A lower value leads to smoother motions but limits agility
|
||||
(how fast it can change directions or break).
|
||||
|
||||
Setting this to the maximum value essentially disables the limit.
|
||||
|
||||
Only used with smooth MPC_POS_MODE 3 and 4.
|
||||
type: float
|
||||
default: 8.0
|
||||
unit: m/s^3
|
||||
min: 0.5
|
||||
max: 500
|
||||
decimal: 0
|
||||
increment: 1
|
||||
SPC_MAN_Y_MAX:
|
||||
description:
|
||||
short: Max manual yaw rate for Stabilized, Altitude, Position mode
|
||||
type: float
|
||||
default: 150.0
|
||||
unit: deg/s
|
||||
min: 0
|
||||
max: 400
|
||||
decimal: 0
|
||||
increment: 10
|
||||
SPC_MAN_Y_TAU:
|
||||
description:
|
||||
short: Manual yaw rate input filter time constant
|
||||
long: |-
|
||||
Not used in Stabilized mode
|
||||
Setting this parameter to 0 disables the filter
|
||||
type: float
|
||||
default: 0.08
|
||||
unit: s
|
||||
min: 0
|
||||
max: 5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SPC_VELD_LP:
|
||||
description:
|
||||
short: Numerical velocity derivative low pass cutoff frequency
|
||||
type: float
|
||||
default: 5.0
|
||||
unit: Hz
|
||||
min: 0
|
||||
max: 10
|
||||
decimal: 1
|
||||
increment: 0.5
|
||||
- group: Miscellaneous
|
||||
definitions:
|
||||
SPC_VEHICLE_RESP:
|
||||
description:
|
||||
short: SPC_VEHICLE_RESP
|
||||
type: float
|
||||
default: 0.5
|
||||
@@ -1,421 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2025 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* 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 spacecraft_params.c
|
||||
* Parameters for spacecraft vehicle type.
|
||||
*
|
||||
* @author Pedro Roque <padr@kth.se>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Roll rate P gain
|
||||
*
|
||||
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.01
|
||||
* @max 0.5
|
||||
* @decimal 3
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_P, 0.15f);
|
||||
|
||||
/**
|
||||
* Roll rate I gain
|
||||
*
|
||||
* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_I, 0.2f);
|
||||
|
||||
/**
|
||||
* Roll rate integrator limit
|
||||
*
|
||||
* Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_RR_INT_LIM, 0.30f);
|
||||
|
||||
/**
|
||||
* Roll rate D gain
|
||||
*
|
||||
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 0.01
|
||||
* @decimal 4
|
||||
* @increment 0.0005
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_D, 0.003f);
|
||||
|
||||
/**
|
||||
* Roll rate feedforward
|
||||
*
|
||||
* Improves tracking performance.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 4
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_FF, 0.0f);
|
||||
|
||||
/**
|
||||
* Roll rate controller gain
|
||||
*
|
||||
* Global gain of the controller.
|
||||
*
|
||||
* This gain scales the P, I and D terms of the controller:
|
||||
* output = SC_ROLLRATE_K * (SC_ROLLRATE_P * error
|
||||
* + SC_ROLLRATE_I * error_integral
|
||||
* + SC_ROLLRATE_D * error_derivative)
|
||||
* Set SC_ROLLRATE_P=1 to implement a PID in the ideal form.
|
||||
* Set SC_ROLLRATE_K=1 to implement a PID in the parallel form.
|
||||
*
|
||||
* @min 0.01
|
||||
* @max 5.0
|
||||
* @decimal 4
|
||||
* @increment 0.0005
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ROLLRATE_K, 1.0f);
|
||||
|
||||
/**
|
||||
* Pitch rate P gain
|
||||
*
|
||||
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.01
|
||||
* @max 0.6
|
||||
* @decimal 3
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_P, 0.15f);
|
||||
|
||||
/**
|
||||
* Pitch rate I gain
|
||||
*
|
||||
* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 3
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_I, 0.2f);
|
||||
|
||||
/**
|
||||
* Pitch rate integrator limit
|
||||
*
|
||||
* Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PR_INT_LIM, 0.30f);
|
||||
|
||||
/**
|
||||
* Pitch rate D gain
|
||||
*
|
||||
* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 4
|
||||
* @increment 0.0005
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_D, 0.003f);
|
||||
|
||||
/**
|
||||
* Pitch rate feedforward
|
||||
*
|
||||
* Improves tracking performance.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 4
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_FF, 0.0f);
|
||||
|
||||
/**
|
||||
* Pitch rate controller gain
|
||||
*
|
||||
* Global gain of the controller.
|
||||
*
|
||||
* This gain scales the P, I and D terms of the controller:
|
||||
* output = SC_PITCHRATE_K * (SC_PITCHRATE_P * error
|
||||
* + SC_PITCHRATE_I * error_integral
|
||||
* + SC_PITCHRATE_D * error_derivative)
|
||||
* Set SC_PITCHRATE_P=1 to implement a PID in the ideal form.
|
||||
* Set SC_PITCHRATE_K=1 to implement a PID in the parallel form.
|
||||
*
|
||||
* @min 0.01
|
||||
* @max 5.0
|
||||
* @decimal 4
|
||||
* @increment 0.0005
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_PITCHRATE_K, 1.0f);
|
||||
|
||||
/**
|
||||
* Yaw rate P gain
|
||||
*
|
||||
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 10.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_P, 10.0f);
|
||||
|
||||
/**
|
||||
* Yaw rate I gain
|
||||
*
|
||||
* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_I, 0.865f);
|
||||
|
||||
/**
|
||||
* Yaw rate integrator limit
|
||||
*
|
||||
* Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YR_INT_LIM, 0.2f);
|
||||
|
||||
/**
|
||||
* Yaw rate D gain
|
||||
*
|
||||
* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_D, 0.0f);
|
||||
|
||||
/**
|
||||
* Yaw rate feedforward
|
||||
*
|
||||
* Improves tracking performance.
|
||||
*
|
||||
* @min 0.0
|
||||
* @decimal 4
|
||||
* @increment 0.01
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_FF, 0.0f);
|
||||
|
||||
/**
|
||||
* Yaw rate controller gain
|
||||
*
|
||||
* Global gain of the controller.
|
||||
*
|
||||
* This gain scales the P, I and D terms of the controller:
|
||||
* output = SC_YAWRATE_K * (SC_YAWRATE_P * error
|
||||
* + SC_YAWRATE_I * error_integral
|
||||
* + SC_YAWRATE_D * error_derivative)
|
||||
* Set SC_YAWRATE_P=1 to implement a PID in the ideal form.
|
||||
* Set SC_YAWRATE_K=1 to implement a PID in the parallel form.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 5.0
|
||||
* @decimal 4
|
||||
* @increment 0.0005
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_YAWRATE_K, 1.0f);
|
||||
|
||||
/**
|
||||
* Max acro roll rate
|
||||
*
|
||||
* default: 2 turns per second
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_R_MAX, 720.0f);
|
||||
|
||||
/**
|
||||
* Max acro pitch rate
|
||||
*
|
||||
* default: 2 turns per second
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_P_MAX, 720.0f);
|
||||
|
||||
/**
|
||||
* Max acro yaw rate
|
||||
*
|
||||
* default 1.5 turns per second
|
||||
*
|
||||
* @unit deg/s
|
||||
* @min 0.0
|
||||
* @max 1800.0
|
||||
* @decimal 1
|
||||
* @increment 5
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_Y_MAX, 540.0f);
|
||||
|
||||
/**
|
||||
* Acro mode Expo factor for Roll and Pitch.
|
||||
*
|
||||
* Exponential factor for tuning the input curve shape.
|
||||
*
|
||||
* 0 Purely linear input curve
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_EXPO, 0.69f);
|
||||
|
||||
/**
|
||||
* Acro mode Expo factor for Yaw.
|
||||
*
|
||||
* Exponential factor for tuning the input curve shape.
|
||||
*
|
||||
* 0 Purely linear input curve
|
||||
* 1 Purely cubic input curve
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_EXPO_Y, 0.69f);
|
||||
|
||||
/**
|
||||
* Acro mode SuperExpo factor for Roll and Pitch.
|
||||
*
|
||||
* SuperExpo factor for refining the input curve shape tuned using SC_ACRO_EXPO.
|
||||
*
|
||||
* 0 Pure Expo function
|
||||
* 0.7 reasonable shape enhancement for intuitive stick feel
|
||||
* 0.95 very strong bent input curve only near maxima have effect
|
||||
*
|
||||
* @min 0
|
||||
* @max 0.95
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_SUPEXPO, 0.7f);
|
||||
|
||||
/**
|
||||
* Acro mode SuperExpo factor for Yaw.
|
||||
*
|
||||
* SuperExpo factor for refining the input curve shape tuned using SC_ACRO_EXPO_Y.
|
||||
*
|
||||
* 0 Pure Expo function
|
||||
* 0.7 reasonable shape enhancement for intuitive stick feel
|
||||
* 0.95 very strong bent input curve only near maxima have effect
|
||||
*
|
||||
* @min 0
|
||||
* @max 0.95
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_ACRO_SUPEXPOY, 0.7f);
|
||||
|
||||
/**
|
||||
* Battery power level scaler
|
||||
*
|
||||
* This compensates for voltage drop of the battery over time by attempting to
|
||||
* normalize performance across the operating range of the battery. The copter
|
||||
* should constantly behave as if it was fully charged with reduced max acceleration
|
||||
* at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
|
||||
* it will still be 0.5 at 60% battery.
|
||||
*
|
||||
* @boolean
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SC_BAT_SCALE_EN, 0);
|
||||
|
||||
/**
|
||||
* Manual mode maximum force.
|
||||
*
|
||||
* *
|
||||
* @min 0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_MAN_F_MAX, 1.0f);
|
||||
|
||||
/**
|
||||
* Manual mode maximum torque.
|
||||
*
|
||||
* *
|
||||
* @min 0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @group Spacecraft Rate Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SC_MAN_T_MAX, 1.0f);
|
||||
@@ -0,0 +1,326 @@
|
||||
module_name: spacecraft
|
||||
parameters:
|
||||
- group: Spacecraft Rate Control
|
||||
definitions:
|
||||
SC_ROLLRATE_P:
|
||||
description:
|
||||
short: Roll rate P gain
|
||||
long: Roll rate proportional gain, i.e. control output for angular speed error
|
||||
1 rad/s.
|
||||
type: float
|
||||
default: 0.15
|
||||
min: 0.01
|
||||
max: 0.5
|
||||
decimal: 3
|
||||
increment: 0.01
|
||||
SC_ROLLRATE_I:
|
||||
description:
|
||||
short: Roll rate I gain
|
||||
long: Roll rate integral gain. Can be set to compensate static thrust difference
|
||||
or gravity center offset.
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0.0
|
||||
decimal: 3
|
||||
increment: 0.01
|
||||
SC_RR_INT_LIM:
|
||||
description:
|
||||
short: Roll rate integrator limit
|
||||
long: Roll rate integrator limit. Can be set to increase the amount of integrator
|
||||
available to counteract disturbances or reduced to improve settling time
|
||||
after large roll moment trim changes.
|
||||
type: float
|
||||
default: 0.3
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_ROLLRATE_D:
|
||||
description:
|
||||
short: Roll rate D gain
|
||||
long: Roll rate differential gain. Small values help reduce fast oscillations.
|
||||
If value is too big oscillations will appear again.
|
||||
type: float
|
||||
default: 0.003
|
||||
min: 0.0
|
||||
max: 0.01
|
||||
decimal: 4
|
||||
increment: 0.0005
|
||||
SC_ROLLRATE_FF:
|
||||
description:
|
||||
short: Roll rate feedforward
|
||||
long: Improves tracking performance.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
decimal: 4
|
||||
SC_ROLLRATE_K:
|
||||
description:
|
||||
short: Roll rate controller gain
|
||||
long: |-
|
||||
Global gain of the controller.
|
||||
|
||||
This gain scales the P, I and D terms of the controller:
|
||||
output = SC_ROLLRATE_K * (SC_ROLLRATE_P * error
|
||||
+ SC_ROLLRATE_I * error_integral
|
||||
+ SC_ROLLRATE_D * error_derivative)
|
||||
Set SC_ROLLRATE_P=1 to implement a PID in the ideal form.
|
||||
Set SC_ROLLRATE_K=1 to implement a PID in the parallel form.
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.01
|
||||
max: 5.0
|
||||
decimal: 4
|
||||
increment: 0.0005
|
||||
SC_PITCHRATE_P:
|
||||
description:
|
||||
short: Pitch rate P gain
|
||||
long: Pitch rate proportional gain, i.e. control output for angular speed
|
||||
error 1 rad/s.
|
||||
type: float
|
||||
default: 0.15
|
||||
min: 0.01
|
||||
max: 0.6
|
||||
decimal: 3
|
||||
increment: 0.01
|
||||
SC_PITCHRATE_I:
|
||||
description:
|
||||
short: Pitch rate I gain
|
||||
long: Pitch rate integral gain. Can be set to compensate static thrust difference
|
||||
or gravity center offset.
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0.0
|
||||
decimal: 3
|
||||
increment: 0.01
|
||||
SC_PR_INT_LIM:
|
||||
description:
|
||||
short: Pitch rate integrator limit
|
||||
long: Pitch rate integrator limit. Can be set to increase the amount of integrator
|
||||
available to counteract disturbances or reduced to improve settling time
|
||||
after large pitch moment trim changes.
|
||||
type: float
|
||||
default: 0.3
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_PITCHRATE_D:
|
||||
description:
|
||||
short: Pitch rate D gain
|
||||
long: Pitch rate differential gain. Small values help reduce fast oscillations.
|
||||
If value is too big oscillations will appear again.
|
||||
type: float
|
||||
default: 0.003
|
||||
min: 0.0
|
||||
decimal: 4
|
||||
increment: 0.0005
|
||||
SC_PITCHRATE_FF:
|
||||
description:
|
||||
short: Pitch rate feedforward
|
||||
long: Improves tracking performance.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
decimal: 4
|
||||
SC_PITCHRATE_K:
|
||||
description:
|
||||
short: Pitch rate controller gain
|
||||
long: |-
|
||||
Global gain of the controller.
|
||||
|
||||
This gain scales the P, I and D terms of the controller:
|
||||
output = SC_PITCHRATE_K * (SC_PITCHRATE_P * error
|
||||
+ SC_PITCHRATE_I * error_integral
|
||||
+ SC_PITCHRATE_D * error_derivative)
|
||||
Set SC_PITCHRATE_P=1 to implement a PID in the ideal form.
|
||||
Set SC_PITCHRATE_K=1 to implement a PID in the parallel form.
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.01
|
||||
max: 5.0
|
||||
decimal: 4
|
||||
increment: 0.0005
|
||||
SC_YAWRATE_P:
|
||||
description:
|
||||
short: Yaw rate P gain
|
||||
long: Yaw rate proportional gain, i.e. control output for angular speed error
|
||||
1 rad/s.
|
||||
type: float
|
||||
default: 10.0
|
||||
min: 0.0
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_YAWRATE_I:
|
||||
description:
|
||||
short: Yaw rate I gain
|
||||
long: Yaw rate integral gain. Can be set to compensate static thrust difference
|
||||
or gravity center offset.
|
||||
type: float
|
||||
default: 0.865
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_YR_INT_LIM:
|
||||
description:
|
||||
short: Yaw rate integrator limit
|
||||
long: Yaw rate integrator limit. Can be set to increase the amount of integrator
|
||||
available to counteract disturbances or reduced to improve settling time
|
||||
after large yaw moment trim changes.
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_YAWRATE_D:
|
||||
description:
|
||||
short: Yaw rate D gain
|
||||
long: Yaw rate differential gain. Small values help reduce fast oscillations.
|
||||
If value is too big oscillations will appear again.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
SC_YAWRATE_FF:
|
||||
description:
|
||||
short: Yaw rate feedforward
|
||||
long: Improves tracking performance.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
decimal: 4
|
||||
increment: 0.01
|
||||
SC_YAWRATE_K:
|
||||
description:
|
||||
short: Yaw rate controller gain
|
||||
long: |-
|
||||
Global gain of the controller.
|
||||
|
||||
This gain scales the P, I and D terms of the controller:
|
||||
output = SC_YAWRATE_K * (SC_YAWRATE_P * error
|
||||
+ SC_YAWRATE_I * error_integral
|
||||
+ SC_YAWRATE_D * error_derivative)
|
||||
Set SC_YAWRATE_P=1 to implement a PID in the ideal form.
|
||||
Set SC_YAWRATE_K=1 to implement a PID in the parallel form.
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.0
|
||||
max: 5.0
|
||||
decimal: 4
|
||||
increment: 0.0005
|
||||
SC_ACRO_R_MAX:
|
||||
description:
|
||||
short: Max acro roll rate
|
||||
long: 'default: 2 turns per second'
|
||||
type: float
|
||||
default: 720.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
SC_ACRO_P_MAX:
|
||||
description:
|
||||
short: Max acro pitch rate
|
||||
long: 'default: 2 turns per second'
|
||||
type: float
|
||||
default: 720.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
SC_ACRO_Y_MAX:
|
||||
description:
|
||||
short: Max acro yaw rate
|
||||
long: default 1.5 turns per second
|
||||
type: float
|
||||
default: 540.0
|
||||
unit: deg/s
|
||||
min: 0.0
|
||||
max: 1800.0
|
||||
decimal: 1
|
||||
increment: 5
|
||||
SC_ACRO_EXPO:
|
||||
description:
|
||||
short: Acro mode Expo factor for Roll and Pitch
|
||||
long: |-
|
||||
Exponential factor for tuning the input curve shape.
|
||||
|
||||
0 Purely linear input curve
|
||||
1 Purely cubic input curve
|
||||
type: float
|
||||
default: 0.69
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 2
|
||||
SC_ACRO_EXPO_Y:
|
||||
description:
|
||||
short: Acro mode Expo factor for Yaw
|
||||
long: |-
|
||||
Exponential factor for tuning the input curve shape.
|
||||
|
||||
0 Purely linear input curve
|
||||
1 Purely cubic input curve
|
||||
type: float
|
||||
default: 0.69
|
||||
min: 0
|
||||
max: 1
|
||||
decimal: 2
|
||||
SC_ACRO_SUPEXPO:
|
||||
description:
|
||||
short: Acro mode SuperExpo factor for Roll and Pitch
|
||||
long: |-
|
||||
SuperExpo factor for refining the input curve shape tuned using SC_ACRO_EXPO.
|
||||
|
||||
0 Pure Expo function
|
||||
0.7 reasonable shape enhancement for intuitive stick feel
|
||||
0.95 very strong bent input curve only near maxima have effect
|
||||
type: float
|
||||
default: 0.7
|
||||
min: 0
|
||||
max: 0.95
|
||||
decimal: 2
|
||||
SC_ACRO_SUPEXPOY:
|
||||
description:
|
||||
short: Acro mode SuperExpo factor for Yaw
|
||||
long: |-
|
||||
SuperExpo factor for refining the input curve shape tuned using SC_ACRO_EXPO_Y.
|
||||
|
||||
0 Pure Expo function
|
||||
0.7 reasonable shape enhancement for intuitive stick feel
|
||||
0.95 very strong bent input curve only near maxima have effect
|
||||
type: float
|
||||
default: 0.7
|
||||
min: 0
|
||||
max: 0.95
|
||||
decimal: 2
|
||||
SC_BAT_SCALE_EN:
|
||||
description:
|
||||
short: Battery power level scaler
|
||||
long: |-
|
||||
This compensates for voltage drop of the battery over time by attempting to
|
||||
normalize performance across the operating range of the battery. The copter
|
||||
should constantly behave as if it was fully charged with reduced max acceleration
|
||||
at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
|
||||
it will still be 0.5 at 60% battery.
|
||||
type: boolean
|
||||
default: 0
|
||||
SC_MAN_F_MAX:
|
||||
description:
|
||||
short: Manual mode maximum force
|
||||
long: '*'
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
SC_MAN_T_MAX:
|
||||
description:
|
||||
short: Manual mode maximum torque
|
||||
long: '*'
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
Reference in New Issue
Block a user