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Rework TPA to have per-component setup and use more stable and intuitive function

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This also adds a ZMR250 config.
This commit is contained in:
Anton Matosov
2016-12-10 12:42:47 +01:00
committed by Lorenz Meier
parent 1bef1ae34a
commit a2c0391bcc
7 changed files with 222 additions and 51 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+93 -31
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@@ -72,6 +72,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
*
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @unit 1/s
* @min 0.0
* @max 8
* @decimal 2
@@ -138,7 +139,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.0005
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
@@ -377,36 +378,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
PARAM_DEFINE_FLOAT(MC_RATT_TH, 1.0f);
/**
* Threshold for Throttle PID Attenuation (TPA)
*
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK, 1.0f);
/**
* Slope for Throttle PID Attenuation (TPA)
*
* Rate at which to attenuate roll/pitch P gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - slope*(abs(throttle)-breakpoint))
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_SLOPE, 1.0f);
/**
* Whether to scale outputs by battery power level
* Battery power level scaler
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery. The copter
@@ -418,3 +390,93 @@ PARAM_DEFINE_FLOAT(MC_TPA_SLOPE, 1.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(MC_BAT_SCALE_EN, 0);
/**
* TPA P Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_P, 1.0f);
/**
* TPA I Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_I, 1.0f);
/**
* TPA D Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_D, 1.0f);
/**
* TPA Rate P
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch P gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_P, 0.0f);
/**
* TPA Rate I
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch I gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_I, 0.0f);
/**
* TPA Rate D
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch D gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);