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split FW_ATT_TC into FW_R_TC and FW_P_TC

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This commit is contained in:
Daniel Agar
2015-12-03 14:18:00 -05:00
committed by Lorenz Meier
parent 8cf9b7820e
commit 18cd49292e
2 changed files with 29 additions and 9 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+10 -6
View File
@@ -168,13 +168,14 @@ private:
struct {
float tconst;
float p_tc;
float p_p;
float p_i;
float p_ff;
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float r_tc;
float r_p;
float r_i;
float r_ff;
@@ -217,13 +218,14 @@ private:
struct {
param_t tconst;
param_t p_tc;
param_t p_p;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t r_tc;
param_t r_p;
param_t r_i;
param_t r_ff;
@@ -387,7 +389,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_vehicle_status = {};
_parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_tc = param_find("FW_P_TC");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_ff = param_find("FW_PR_FF");
@@ -395,6 +397,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.r_tc = param_find("FW_R_TC");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_i = param_find("FW_RR_I");
_parameter_handles.r_ff = param_find("FW_RR_FF");
@@ -471,7 +474,7 @@ int
FixedwingAttitudeControl::parameters_update()
{
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
@@ -479,6 +482,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.r_tc, &(_parameters.r_tc));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
@@ -522,7 +526,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
/* pitch control parameters */
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_time_constant(_parameters.p_tc);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
@@ -531,7 +535,7 @@ FixedwingAttitudeControl::parameters_update()
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.tconst);
_roll_ctrl.set_time_constant(_parameters.r_tc);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_ff(_parameters.r_ff);
src/modules/fw_att_control/fw_att_control_params.c
+19 -3
View File
@@ -46,9 +46,9 @@
*/
/**
* Attitude Time Constant
* Attitude Roll Time Constant
*
* This defines the latency between a step input and the achieved setpoint
* This defines the latency between a roll 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
@@ -59,7 +59,23 @@
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f);
PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
/**
* Attitude Pitch Time Constant
*
* This defines the latency between a pitch 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.
*
* @unit seconds
* @min 0.2
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
/**
* Pitch rate proportional gain.