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FW attitude/rate controller: shorten/improve param descriptions

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-09-29 11:07:46 +02:00
parent b817eb0370
commit 6b09882758
2 changed files with 17 additions and 58 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+6 -18
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -44,10 +44,7 @@
* Attitude Roll Time Constant
*
* This defines the latency between a roll step input and the achieved setpoint
* (inverse to a P gain). 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.
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
@@ -62,10 +59,7 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
* Attitude pitch time constant
*
* This defines the latency between a pitch step input and the achieved setpoint
* (inverse to a P gain). 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.
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
@@ -168,9 +162,6 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
/**
* Wheel steering rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
@@ -197,8 +188,6 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);
/**
* Wheel steering rate feed forward
*
* Direct feed forward from rate setpoint to control surface output
*
* @unit %/rad/s
* @min 0.0
* @max 10
@@ -228,8 +217,7 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
* Maximum manually added yaw rate
*
* This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
* The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it.
* This is an absolute value, which is applied symmetrically to the negative and positive side.
* It is added to the yaw rate setpoint generated by the controller for turn coordination.
*
* @unit deg/s
* @min 0
@@ -242,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f);
/**
* Maximum manual roll angle
*
* Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
* Applies to both directions in all manual modes with attitude stabilization
*
* @unit deg
* @min 0.0
@@ -256,7 +244,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
/**
* Maximum manual pitch angle
*
* Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
* Applies to both directions in all manual modes with attitude stabilization but without altitude control
*
* @unit deg
* @min 0.0
src/modules/fw_rate_control/fw_rate_control_params.c
+11 -40
View File
@@ -46,10 +46,9 @@
* The minimal airspeed (calibrated airspeed) the user is able to command.
* Further, if the airspeed falls below this value, the TECS controller will try to
* increase airspeed more aggressively.
* Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL),
* with some margin between the stall speed and minimum airspeed.
* Should be set (with some margin) above the vehicle stall speed.
* This value corresponds to the desired minimum speed with the default load factor (level flight, default weight),
* and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
* and is automatically adapated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
*
* @unit m/s
* @min 0.5
@@ -142,9 +141,6 @@ PARAM_DEFINE_FLOAT(FW_PR_D, 0.f);
/**
* Pitch rate integrator gain.
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.0
* @max 10
@@ -157,9 +153,6 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f);
/**
* Pitch rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
@@ -169,7 +162,7 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll rate proportional Gain
* Roll rate proportional gain
*
* @unit %/rad/s
* @min 0.0
@@ -181,10 +174,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
/**
* Roll rate derivative Gain
*
* Roll rate differential gain. Small values help reduce fast oscillations.
* If value is too big oscillations will appear again.
* Roll rate derivative gain
*
* @unit %/rad/s
* @min 0.0
@@ -193,13 +183,10 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f);
PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f);
/**
* Roll rate integrator Gain
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
* Roll rate integrator gain
*
* @unit %/rad
* @min 0.0
@@ -211,9 +198,7 @@ PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f);
PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
/**
* Roll integrator anti-windup
*
* The portion of the integrator part in the control surface deflection is limited to this value.
* Roll integrator limit
*
* @min 0.0
* @max 1.0
@@ -238,9 +223,6 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
/**
* Yaw rate derivative gain
*
* Yaw rate differential gain. Small values help reduce fast oscillations.
* If value is too big oscillations will appear again.
*
* @unit %/rad/s
* @min 0.0
* @max 10
@@ -253,9 +235,6 @@ PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
/**
* Yaw rate integrator gain
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.0
* @max 10
@@ -268,9 +247,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f);
/**
* Yaw rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
@@ -282,9 +258,7 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
/**
* Roll rate feed forward
*
* Direct feed forward from rate setpoint to control surface output. Use this
* to obtain a tigher response of the controller without introducing
* noise amplification.
* Direct feed forward from rate setpoint to control surface output.
*
* @unit %/rad/s
* @min 0.0
@@ -324,10 +298,7 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
/**
* Acro body x max rate.
*
* This is the rate the controller is trying to achieve if the user applies full roll
* stick input in acro mode.
* Acro body roll max rate setpoint
*
* @min 10
* @max 720
@@ -337,7 +308,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
/**
* Acro body pitch max rate setpoint.
* Acro body pitch max rate setpoint
*
* @min 10
* @max 720
@@ -347,7 +318,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
/**
* Acro body yaw max rate setpoint.
* Acro body yaw max rate setpoint
*
* @min 10
* @max 720