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fw ctrl: rename parameters to more consistent names

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This commit is contained in:
Thomas Gubler
2013-10-24 16:23:32 +02:00
parent 146279b20f
commit 61fafcbc78
2 changed files with 27 additions and 27 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+12 -12
View File
@@ -288,25 +288,25 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_airspeed_valid(false)
{
_parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_p = param_find("FW_P_P");
_parameter_handles.p_d = param_find("FW_P_D");
_parameter_handles.p_i = param_find("FW_P_I");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_d = param_find("FW_PR_D");
_parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
_parameter_handles.r_p = param_find("FW_R_P");
_parameter_handles.r_d = param_find("FW_R_D");
_parameter_handles.r_i = param_find("FW_R_I");
_parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_d = param_find("FW_RR_D");
_parameter_handles.r_i = param_find("FW_RR_I");
_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
_parameter_handles.r_rmax = param_find("FW_R_RMAX");
_parameter_handles.y_p = param_find("FW_Y_P");
_parameter_handles.y_i = param_find("FW_Y_I");
_parameter_handles.y_d = param_find("FW_Y_D");
_parameter_handles.y_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_d = param_find("FW_YR_D");
_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
_parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
src/modules/fw_att_control/fw_att_control_params.c
+15 -15
View File
@@ -50,7 +50,7 @@
* Controller parameters, accessible via MAVLink
*
*/
//xxx: update descriptions
// @DisplayName Attitude Time Constant
// @Description This defines the latency between a step input and the achieved setpoint. Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
// @Range 0.4 to 1.0 seconds, in tens of seconds
@@ -59,33 +59,33 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
// @DisplayName Proportional gain.
// @Description This defines how much the elevator input will be commanded dependend on the current pitch error.
// @Range 10 to 200, 1 increments
PARAM_DEFINE_FLOAT(FW_P_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_PR_P, 0.3f);
// @DisplayName Damping gain.
// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings.
// @Range 0.0 to 10.0, 0.1 increments
PARAM_DEFINE_FLOAT(FW_P_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove
// @DisplayName Integrator gain.
// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error.
// @Range 0 to 50.0
PARAM_DEFINE_FLOAT(FW_P_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.05f);
// @DisplayName Maximum positive / up pitch rate.
// @Description This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
// @Range 0 to 90.0 degrees per seconds, in 1 increments
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
// @DisplayName Maximum negative / down pitch rate.
// @Description This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
// @Range 0 to 90.0 degrees per seconds, in 1 increments
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
// @DisplayName Pitch Integrator Anti-Windup
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 1000.0f);
// @DisplayName Roll feedforward gain.
// @Description This compensates during turns and ensures the nose stays level.
@@ -99,27 +99,27 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 1.0f);
// @Range 10.0 200.0
// @Increment 10.0
// @User User
PARAM_DEFINE_FLOAT(FW_R_P, 40.0f);
PARAM_DEFINE_FLOAT(FW_RR_P, 0.5f);
// @DisplayName Damping Gain
// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence.
// @Range 0.0 10.0
// @Increment 1.0
// @User User
PARAM_DEFINE_FLOAT(FW_R_D, 0.0f);
PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove
// @DisplayName Integrator Gain
// @Description This gain controls the contribution of the integral to roll actuator outputs. It trims out steady state errors.
// @Range 0.0 100.0
// @Increment 5.0
// @User User
PARAM_DEFINE_FLOAT(FW_R_I, 0.0f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.05f);
// @DisplayName Roll Integrator Anti-Windup
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 1000.0f);
// @DisplayName Maximum Roll Rate
// @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
@@ -128,10 +128,10 @@ PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_Y_P, 0);
PARAM_DEFINE_FLOAT(FW_Y_I, 0);
PARAM_DEFINE_FLOAT(FW_Y_IMAX, 15.0f);
PARAM_DEFINE_FLOAT(FW_Y_D, 0);
PARAM_DEFINE_FLOAT(FW_YR_P, 0.5);
PARAM_DEFINE_FLOAT(FW_YR_I, 0.05);
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 1000.0f);
PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 12.0f);