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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>
This commit is contained in:
Silvan Fuhrer
2020-10-08 09:30:15 +02:00
committed by Roman Bapst
parent 72dfb2078a
commit 2ca4269464
5 changed files with 33 additions and 11 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -1
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@@ -100,7 +100,8 @@ FixedwingPositionControl::parameters_update()
_tecs.set_indicated_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_min_sink_rate(_param_fw_t_sink_min.get());
_tecs.set_throttle_damp(_param_fw_t_thr_damp.get());
_tecs.set_integrator_gain(_param_fw_t_integ_gain.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_I_gain_thr.get());
_tecs.set_integrator_gain_pitch(_param_fw_t_I_gain_pit.get());
_tecs.set_throttle_slewrate(_param_fw_thr_slew_max.get());
_tecs.set_vertical_accel_limit(_param_fw_t_vert_acc.get());
_tecs.set_speed_comp_filter_omega(_param_fw_t_spd_omega.get());
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -1
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@@ -396,7 +396,8 @@ private:
(ParamFloat<px4::params::FW_T_CLMB_MAX>) _param_fw_t_clmb_max,
(ParamFloat<px4::params::FW_T_HRATE_FF>) _param_fw_t_hrate_ff,
(ParamFloat<px4::params::FW_T_ALT_TC>) _param_fw_t_h_error_tc,
(ParamFloat<px4::params::FW_T_INTEG_GAIN>) _param_fw_t_integ_gain,
(ParamFloat<px4::params::FW_T_I_GAIN_THR>) _param_fw_t_I_gain_thr,
(ParamFloat<px4::params::FW_T_I_GAIN_PIT>) _param_fw_t_I_gain_pit,
(ParamFloat<px4::params::FW_T_PTCH_DAMP>) _param_fw_t_ptch_damp,
(ParamFloat<px4::params::FW_T_RLL2THR>) _param_fw_t_rll2thr,
(ParamFloat<px4::params::FW_T_SINK_MAX>) _param_fw_t_sink_max,
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+20 -3
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@@ -535,9 +535,9 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f);
/**
* Integrator gain
* Integrator gain throttle
*
* This is the integrator gain on the control loop.
* This is the integrator gain on the throttle part of the control loop.
* Increasing this gain increases the speed at which speed
* and height offsets are trimmed out, but reduces damping and
* increases overshoot. Set this value to zero to completely
@@ -549,7 +549,24 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f);
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.1f);
/**
* Integrator gain pitch
*
* This is the integrator gain on the pitch part of the control loop.
* Increasing this gain increases the speed at which speed
* and height offsets are trimmed out, but reduces damping and
* increases overshoot. Set this value to zero to completely
* disable all integrator action.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
/**
* Maximum vertical acceleration