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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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refactor(fw_rate_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
parent
15fcc08df7
commit
664cd01d2e
@ -37,6 +37,8 @@ px4_add_module(
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SRCS
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FixedwingRateControl.cpp
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FixedwingRateControl.hpp
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MODULE_CONFIG
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fw_rate_control_params.yaml
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DEPENDS
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px4_work_queue
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RateControl
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@ -1,456 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file fw_rate_control_params.c
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*
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* Parameters defined by the fixed-wing rate control task
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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*/
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/**
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* Use airspeed for control
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*
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* If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
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* - Rate controller: output scaling
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* - Attitude controller: coordinated turn controller
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* - Position controller: airspeed setpoint tracking, takeoff logic
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* - VTOL: transition logic
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*
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* @boolean
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* @group FW Rate Control
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*/
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PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1);
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/**
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* Pitch rate proportional gain.
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
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/**
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* Pitch rate derivative gain.
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*
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* Pitch rate differential gain.
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_D, 0.f);
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/**
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* Pitch rate integrator gain.
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*
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* @unit %/rad
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f);
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/**
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* Pitch rate integrator limit
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
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/**
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* Roll rate proportional gain
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
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/**
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* Roll rate derivative gain
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f);
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/**
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* Roll rate integrator gain
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*
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* @unit %/rad
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.01
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
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/**
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* Roll integrator limit
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
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/**
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* Yaw rate proportional gain
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
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/**
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* Yaw rate derivative gain
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10
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* @decimal 3
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* @increment 0.005
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
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/**
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* Yaw rate integrator gain
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*
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* @unit %/rad
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* @min 0.0
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* @max 10
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* @decimal 1
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* @increment 0.5
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f);
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/**
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* Yaw rate integrator limit
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
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/**
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* Roll rate feed forward
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*
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* Direct feed forward from rate setpoint to control surface output.
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
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/**
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* Pitch rate feed forward
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*
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* Direct feed forward from rate setpoint to control surface output
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
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/**
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* Yaw rate feed forward
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*
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* Direct feed forward from rate setpoint to control surface output
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*
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
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/**
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* Acro body roll max rate setpoint
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*
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* @min 10
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* @max 720
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* @unit deg
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
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/**
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* Acro body pitch max rate setpoint
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*
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* @min 10
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* @max 720
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* @unit deg
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
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/**
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* Acro body yaw max rate setpoint
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*
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* @min 10
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* @max 720
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* @unit deg
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
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/**
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* Enable throttle scale by battery level
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*
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* This compensates for voltage drop of the battery over time by attempting to
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* normalize performance across the operating range of the battery.
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*
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* @boolean
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* @group FW Rate Control
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*/
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PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);
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/**
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* Enable airspeed scaling
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*
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* This enables a logic that automatically adjusts the output of the rate controller to take
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* into account the real torque produced by an aerodynamic control surface given
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* the current deviation from the trim airspeed (FW_AIRSPD_TRIM).
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*
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* Enable when using aerodynamic control surfaces (e.g.: plane)
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* Disable when using rotor wings (e.g.: autogyro)
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*
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* @boolean
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* @group FW Rate Control
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*/
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PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
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/**
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* Roll trim increment at minimum airspeed
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*
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* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);
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/**
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* Pitch trim increment at minimum airspeed
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*
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* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);
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/**
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* Yaw trim increment at minimum airspeed
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*
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* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);
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/**
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* Roll trim increment at maximum airspeed
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*
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* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);
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/**
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* Pitch trim increment at maximum airspeed
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*
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* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);
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/**
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* Yaw trim increment at maximum airspeed
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*
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* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
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*
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* @group FW Rate Control
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* @min -0.5
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* @max 0.5
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMAX, 0.0f);
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/**
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* Manual roll scale
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*
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* Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows
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* to adjust the throws of the control surfaces.
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f);
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/**
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* Manual pitch scale
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*
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* Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows
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* to adjust the throws of the control surfaces.
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*
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* @unit norm
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f);
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/**
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* Manual yaw scale
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*
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* Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
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* to adjust the throws of the control surfaces.
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*
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* @unit norm
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);
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/**
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* Roll control to yaw control feedforward gain.
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*
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* This gain can be used to counteract the "adverse yaw" effect for fixed wings.
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* When the plane enters a roll it will tend to yaw the nose out of the turn.
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* This gain enables the use of a yaw actuator to counteract this effect.
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*
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* @min 0.0
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* @decimal 1
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* @increment 0.01
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* @group FW Rate Control
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*/
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PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);
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/**
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* Spoiler input in manual flight
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*
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* Chose source for manual setting of spoilers in manual flight modes.
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*
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* @value 0 Disabled
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* @value 1 Flaps channel
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* @value 2 Aux1
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* @group FW Rate Control
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*/
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PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
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/**
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* Enable yaw rate controller in Acro
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*
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* If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.
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* Otherwise the pilot commands directly the yaw actuator.
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* It is disabled by default because an active yaw rate controller will fight against the
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* natural turn coordination of the plane.
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*
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* @boolean
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* @group FW Rate Control
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*/
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PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0);
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339
src/modules/fw_rate_control/fw_rate_control_params.yaml
Normal file
339
src/modules/fw_rate_control/fw_rate_control_params.yaml
Normal file
@ -0,0 +1,339 @@
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module_name: fw_rate_control
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parameters:
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- group: FW Rate Control
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definitions:
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FW_USE_AIRSPD:
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description:
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short: Use airspeed for control
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long: |-
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If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
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- Rate controller: output scaling
|
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- Attitude controller: coordinated turn controller
|
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- Position controller: airspeed setpoint tracking, takeoff logic
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- VTOL: transition logic
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type: boolean
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default: 1
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FW_PR_P:
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description:
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short: Pitch rate proportional gain
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type: float
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default: 0.08
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unit: '%/rad/s'
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min: 0.0
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max: 10
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decimal: 3
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increment: 0.005
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FW_PR_D:
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description:
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short: Pitch rate derivative gain
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long: Pitch rate differential gain.
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type: float
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default: 0.0
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unit: '%/rad/s'
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min: 0.0
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max: 10
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decimal: 3
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increment: 0.005
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FW_PR_I:
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description:
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short: Pitch rate integrator gain
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type: float
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default: 0.1
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unit: '%/rad'
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min: 0.0
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max: 10
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decimal: 3
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increment: 0.005
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FW_PR_IMAX:
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description:
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short: Pitch rate integrator limit
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type: float
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default: 0.4
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min: 0.0
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max: 1.0
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decimal: 2
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increment: 0.05
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FW_RR_P:
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description:
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short: Roll rate proportional gain
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type: float
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default: 0.05
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unit: '%/rad/s'
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min: 0.0
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||||
max: 10
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decimal: 3
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increment: 0.005
|
||||
FW_RR_D:
|
||||
description:
|
||||
short: Roll rate derivative gain
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 3
|
||||
increment: 0.005
|
||||
FW_RR_I:
|
||||
description:
|
||||
short: Roll rate integrator gain
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: '%/rad'
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_RR_IMAX:
|
||||
description:
|
||||
short: Roll integrator limit
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
FW_YR_P:
|
||||
description:
|
||||
short: Yaw rate proportional gain
|
||||
type: float
|
||||
default: 0.05
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 3
|
||||
increment: 0.005
|
||||
FW_YR_D:
|
||||
description:
|
||||
short: Yaw rate derivative gain
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 3
|
||||
increment: 0.005
|
||||
FW_YR_I:
|
||||
description:
|
||||
short: Yaw rate integrator gain
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: '%/rad'
|
||||
min: 0.0
|
||||
max: 10
|
||||
decimal: 1
|
||||
increment: 0.5
|
||||
FW_YR_IMAX:
|
||||
description:
|
||||
short: Yaw rate integrator limit
|
||||
type: float
|
||||
default: 0.2
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
FW_RR_FF:
|
||||
description:
|
||||
short: Roll rate feed forward
|
||||
long: Direct feed forward from rate setpoint to control surface output.
|
||||
type: float
|
||||
default: 0.5
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
FW_PR_FF:
|
||||
description:
|
||||
short: Pitch rate feed forward
|
||||
long: Direct feed forward from rate setpoint to control surface output
|
||||
type: float
|
||||
default: 0.5
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
FW_YR_FF:
|
||||
description:
|
||||
short: Yaw rate feed forward
|
||||
long: Direct feed forward from rate setpoint to control surface output
|
||||
type: float
|
||||
default: 0.3
|
||||
unit: '%/rad/s'
|
||||
min: 0.0
|
||||
max: 10.0
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
FW_ACRO_X_MAX:
|
||||
description:
|
||||
short: Acro body roll max rate setpoint
|
||||
type: float
|
||||
default: 90
|
||||
min: 10
|
||||
max: 720
|
||||
unit: deg
|
||||
FW_ACRO_Y_MAX:
|
||||
description:
|
||||
short: Acro body pitch max rate setpoint
|
||||
type: float
|
||||
default: 90
|
||||
min: 10
|
||||
max: 720
|
||||
unit: deg
|
||||
FW_ACRO_Z_MAX:
|
||||
description:
|
||||
short: Acro body yaw max rate setpoint
|
||||
type: float
|
||||
default: 45
|
||||
min: 10
|
||||
max: 720
|
||||
unit: deg
|
||||
FW_BAT_SCALE_EN:
|
||||
description:
|
||||
short: Enable throttle scale by battery level
|
||||
long: |-
|
||||
This compensates for voltage drop of the battery over time by attempting to
|
||||
normalize performance across the operating range of the battery.
|
||||
type: boolean
|
||||
default: 0
|
||||
FW_ARSP_SCALE_EN:
|
||||
description:
|
||||
short: Enable airspeed scaling
|
||||
long: |-
|
||||
This enables a logic that automatically adjusts the output of the rate controller to take
|
||||
into account the real torque produced by an aerodynamic control surface given
|
||||
the current deviation from the trim airspeed (FW_AIRSPD_TRIM).
|
||||
|
||||
Enable when using aerodynamic control surfaces (e.g.: plane)
|
||||
Disable when using rotor wings (e.g.: autogyro)
|
||||
type: boolean
|
||||
default: 1
|
||||
FW_DTRIM_R_VMIN:
|
||||
description:
|
||||
short: Roll trim increment at minimum airspeed
|
||||
long: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_DTRIM_P_VMIN:
|
||||
description:
|
||||
short: Pitch trim increment at minimum airspeed
|
||||
long: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_DTRIM_Y_VMIN:
|
||||
description:
|
||||
short: Yaw trim increment at minimum airspeed
|
||||
long: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_DTRIM_R_VMAX:
|
||||
description:
|
||||
short: Roll trim increment at maximum airspeed
|
||||
long: This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_DTRIM_P_VMAX:
|
||||
description:
|
||||
short: Pitch trim increment at maximum airspeed
|
||||
long: This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_DTRIM_Y_VMAX:
|
||||
description:
|
||||
short: Yaw trim increment at maximum airspeed
|
||||
long: This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: -0.5
|
||||
max: 0.5
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_MAN_R_SC:
|
||||
description:
|
||||
short: Manual roll scale
|
||||
long: |-
|
||||
Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows
|
||||
to adjust the throws of the control surfaces.
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: norm
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_MAN_P_SC:
|
||||
description:
|
||||
short: Manual pitch scale
|
||||
long: |-
|
||||
Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows
|
||||
to adjust the throws of the control surfaces.
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: norm
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_MAN_Y_SC:
|
||||
description:
|
||||
short: Manual yaw scale
|
||||
long: |-
|
||||
Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
|
||||
to adjust the throws of the control surfaces.
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: norm
|
||||
min: 0.0
|
||||
decimal: 2
|
||||
increment: 0.01
|
||||
FW_RLL_TO_YAW_FF:
|
||||
description:
|
||||
short: Roll control to yaw control feedforward gain
|
||||
long: |-
|
||||
This gain can be used to counteract the "adverse yaw" effect for fixed wings.
|
||||
When the plane enters a roll it will tend to yaw the nose out of the turn.
|
||||
This gain enables the use of a yaw actuator to counteract this effect.
|
||||
type: float
|
||||
default: 0.0
|
||||
min: 0.0
|
||||
decimal: 1
|
||||
increment: 0.01
|
||||
FW_SPOILERS_MAN:
|
||||
description:
|
||||
short: Spoiler input in manual flight
|
||||
long: Chose source for manual setting of spoilers in manual flight modes.
|
||||
type: enum
|
||||
values:
|
||||
0: Disabled
|
||||
1: Flaps channel
|
||||
2: Aux1
|
||||
default: 0
|
||||
FW_ACRO_YAW_EN:
|
||||
description:
|
||||
short: Enable yaw rate controller in Acro
|
||||
long: |-
|
||||
If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.
|
||||
Otherwise the pilot commands directly the yaw actuator.
|
||||
It is disabled by default because an active yaw rate controller will fight against the
|
||||
natural turn coordination of the plane.
|
||||
type: boolean
|
||||
default: 0
|
||||
Loading…
x
Reference in New Issue
Block a user