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VTOL: remove VT_B_DEC_FF

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Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-06-19 10:27:02 +02:00
parent 8fe5ce4f65
commit 351f2a8287
3 changed files with 1 additions and 16 deletions
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14
src/modules/vtol_att_control/vtol_att_control_params.c
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@ -338,23 +338,9 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_P, 1.f);
*/
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_Y, 0.1f);
/**
* Backtransition deceleration setpoint to pitch feedforward gain.
*
*
* @unit rad s^2/m
* @min 0
* @max 0.2
* @decimal 2
* @increment 0.01
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.f);
/**
* Backtransition deceleration setpoint to pitch I gain.
*
*
* @unit rad s/m
* @min 0
* @max 0.3

2
src/modules/vtol_att_control/vtol_type.cpp
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@ -176,7 +176,7 @@ float VtolType::update_and_get_backtransition_pitch_sp()
// get accel error, positive means decelerating too slow, need to pitch up (must reverse dec_max, as it is a positive number)
const float accel_error_forward = dec_sp + accel_body_forward;
const float pitch_sp_new = _param_vt_b_dec_ff.get() * dec_sp + _accel_to_pitch_integ;
const float pitch_sp_new = _accel_to_pitch_integ;
float integrator_input = _param_vt_b_dec_i.get() * accel_error_forward;

1
src/modules/vtol_att_control/vtol_type.h
View File

@ -335,7 +335,6 @@ protected:
(ParamFloat<px4::params::VT_FW_DIFTHR_S_Y>) _param_vt_fw_difthr_s_y,
(ParamFloat<px4::params::VT_FW_DIFTHR_S_P>) _param_vt_fw_difthr_s_p,
(ParamFloat<px4::params::VT_FW_DIFTHR_S_R>) _param_vt_fw_difthr_s_r,
(ParamFloat<px4::params::VT_B_DEC_FF>) _param_vt_b_dec_ff,
(ParamFloat<px4::params::VT_B_DEC_I>) _param_vt_b_dec_i,
(ParamFloat<px4::params::VT_B_DEC_MSS>) _param_vt_b_dec_mss,