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MC att control: Add time constant to simplify user-tuning of basic vehicle operation

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This commit is contained in:
Lorenz Meier
2015-12-26 16:10:21 +01:00
parent bc6b640ceb
commit 4d41f1d6ce
2 changed files with 38 additions and 6 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+16 -6
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@@ -101,6 +101,7 @@ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]);
#define MIN_TAKEOFF_THRUST 0.2f
#define RATES_I_LIMIT 0.3f
#define MANUAL_THROTTLE_MAX_MULTICOPTER 0.9f
#define ATTITUDE_TC_DEFAULT 0.2f
class MulticopterAttitudeControl
{
@@ -196,6 +197,8 @@ private:
param_t rattitude_thres;
param_t vtol_type;
param_t roll_tc;
param_t pitch_tc;
} _params_handles; /**< handles for interesting parameters */
@@ -384,6 +387,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX");
_params_handles.rattitude_thres = param_find("MC_RATT_TH");
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.roll_tc = param_find("MC_ROLL_TC");
_params_handles.pitch_tc = param_find("MC_PITCH_TC");
/* fetch initial parameter values */
parameters_update();
@@ -426,27 +431,32 @@ MulticopterAttitudeControl::parameters_update()
{
float v;
float roll_tc, pitch_tc;
param_get(_params_handles.roll_tc, &roll_tc);
param_get(_params_handles.pitch_tc, &pitch_tc);
/* roll gains */
param_get(_params_handles.roll_p, &v);
_params.att_p(0) = v;
_params.att_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_p, &v);
_params.rate_p(0) = v;
_params.rate_p(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_i, &v);
_params.rate_i(0) = v;
param_get(_params_handles.roll_rate_d, &v);
_params.rate_d(0) = v;
_params.rate_d(0) = v * (ATTITUDE_TC_DEFAULT / roll_tc);
param_get(_params_handles.roll_rate_ff, &v);
_params.rate_ff(0) = v;
/* pitch gains */
param_get(_params_handles.pitch_p, &v);
_params.att_p(1) = v;
_params.att_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_p, &v);
_params.rate_p(1) = v;
_params.rate_p(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_i, &v);
_params.rate_i(1) = v;
param_get(_params_handles.pitch_rate_d, &v);
_params.rate_d(1) = v;
_params.rate_d(1) = v * (ATTITUDE_TC_DEFAULT / pitch_tc);
param_get(_params_handles.pitch_rate_ff, &v);
_params.rate_ff(1) = v;