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TECS: separate integral gains for throttle and pitch loops

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2021-01-13 21:21:07 +03:00
committed by Roman Bapst
parent 72dfb2078a
commit 2ca4269464
5 changed files with 33 additions and 11 deletions
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src/lib/tecs/TECS.hpp
+4 -2
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@@ -102,7 +102,8 @@ public:
void set_detect_underspeed_enabled(bool enabled) { _detect_underspeed_enabled = enabled; }
// setters for controller parameters
void set_integrator_gain(float gain) { _integrator_gain = gain; }
void set_integrator_gain_throttle(float gain) { _integrator_gain_throttle = gain; }
void set_integrator_gain_pitch(float gain) { _integrator_gain_pitch = gain; }
void set_min_sink_rate(float rate) { _min_sink_rate = rate; }
void set_max_sink_rate(float sink_rate) { _max_sink_rate = sink_rate; }
@@ -206,7 +207,8 @@ private:
float _max_sink_rate{2.0f}; ///< maximum safe sink rate (m/sec)
float _pitch_damping_gain{0.0f}; ///< damping gain of the pitch demand calculation (sec)
float _throttle_damping_gain{0.0f}; ///< damping gain of the throttle demand calculation (sec)
float _integrator_gain{0.0f}; ///< integrator gain used by the throttle and pitch demand calculation
float _integrator_gain_throttle{0.0f}; ///< integrator gain used by the throttle demand calculation
float _integrator_gain_pitch{0.0f}; ///< integrator gain used by the pitch demand calculation
float _vert_accel_limit{0.0f}; ///< magnitude of the maximum vertical acceleration allowed (m/sec**2)
float _load_factor_correction{0.0f}; ///< gain from normal load factor increase to total energy rate demand (m**2/sec**3)
float _pitch_speed_weight{1.0f}; ///< speed control weighting used by pitch demand calculation