fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 00:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw att: add param to select yawrate control method

Browse Source
This commit is contained in:
Thomas Gubler
2015-01-04 12:29:15 +01:00
committed by Lorenz Meier
parent 1b8a830a38
commit 53ffde30c2
4 changed files with 62 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
+5
View File
@@ -183,6 +183,7 @@ private:
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated_min_speed;
int32_t y_coordinated_method;
float y_rmax;
float airspeed_min;
@@ -225,6 +226,7 @@ private:
param_t y_roll_feedforward;
param_t y_integrator_max;
param_t y_coordinated_min_speed;
param_t y_coordinated_method;
param_t y_rmax;
param_t airspeed_min;
@@ -391,6 +393,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
@@ -459,6 +462,7 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
@@ -501,6 +505,7 @@ FixedwingAttitudeControl::parameters_update()
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
return OK;
src/modules/fw_att_control/fw_att_control_params.c
+13
View File
@@ -275,6 +275,19 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
*/
PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
/**
* Method used for yaw coordination
*
* The param value sets the method used to calculate the yaw rate
* 0: open-loop zero lateral acceleration based on kinematic constraints
*
* @min 0
* @max 0
* @unit m/s
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
/* Airspeed parameters:
* The following parameters about airspeed are used by the attitude and the
* position controller.