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refactor(fw_lateral_longitudinal_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
9fc2289e00
commit
ada9784ba6
@ -12,4 +12,6 @@ px4_add_module(
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FwLateralLongitudinalControl.hpp
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DEPENDS
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${CONTROL_DEPENDENCIES}
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)
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MODULE_CONFIG
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fw_lat_long_params.yaml
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)
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@ -1,284 +0,0 @@
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/**
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* Path navigation roll slew rate limit.
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*
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* Maximum change in roll angle setpoint per second.
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* Applied in all Auto modes, plus manual Position & Altitude modes.
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*
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* @unit deg/s
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* @min 0
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* @decimal 0
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* @increment 1
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* @group FW Lateral Control
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*/
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PARAM_DEFINE_FLOAT(FW_PN_R_SLEW_MAX, 90.0f);
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/**
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* Minimum groundspeed
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*
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* The controller will increase the commanded airspeed to maintain
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* this minimum groundspeed to the next waypoint.
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*
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* @unit m/s
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* @min 0.0
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* @max 40
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* @decimal 1
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
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// ----------longitudinal params----------
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/**
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* Throttle max slew rate
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*
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* Maximum slew rate for the commanded throttle
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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 0.01
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
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/**
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* Low-height threshold for tighter altitude tracking
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*
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* Height above ground threshold below which tighter altitude
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* tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly
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* (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC
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* to FW_LND_THRTC_SC*FW_T_ALT_TC.
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*
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* -1 to disable.
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*
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* @unit m
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* @min -1
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* @decimal 0
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* @increment 1
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_THR_LOW_HGT, -1.f);
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/**
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* Throttle damping factor
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*
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* This is the damping gain for the throttle demand loop.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 3
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* @increment 0.01
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f);
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/**
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* Integrator gain throttle
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*
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* Increase it to trim out speed and height offsets faster,
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* with the downside of possible overshoots and oscillations.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 3
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* @increment 0.005
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f);
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/**
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* Integrator gain pitch
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*
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* Increase it to trim out speed and height offsets faster,
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* with the downside of possible overshoots and oscillations.
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*
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* @min 0.0
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* @max 2.0
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* @decimal 2
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* @increment 0.05
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
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/**
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* Maximum vertical acceleration
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*
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* This is the maximum vertical acceleration
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* either up or down that the controller will use to correct speed
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* or height errors.
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*
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* @unit m/s^2
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* @min 1.0
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* @max 10.0
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* @decimal 1
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
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/**
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* Airspeed measurement standard deviation
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*
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* For the airspeed filter in TECS.
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*
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* @unit m/s
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* @min 0.01
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* @max 10.0
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* @decimal 2
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* @increment 0.1
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.07f);
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/**
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* Airspeed rate measurement standard deviation
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*
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* For the airspeed filter in TECS.
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*
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* @unit m/s^2
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* @min 0.01
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* @max 10.0
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* @decimal 2
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* @increment 0.1
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f);
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/**
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* Process noise standard deviation for the airspeed rate
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*
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* This is defining the noise in the airspeed rate for the constant airspeed rate model
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* of the TECS airspeed filter.
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*
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* @unit m/s^2
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* @min 0.01
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* @max 10.0
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* @decimal 2
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* @increment 0.1
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
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/**
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* Roll -> Throttle feedforward
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*
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* Is used to compensate for the additional drag created by turning.
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* Increase this gain if the aircraft initially loses energy in turns
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* and reduce if the aircraft initially gains energy in turns.
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*
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* @min 0.0
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* @max 20.0
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* @decimal 1
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
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/**
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* Pitch damping gain
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*
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* @min 0.0
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* @max 2.0
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* @decimal 2
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* @increment 0.1
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
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/**
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* Altitude error time constant.
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*
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* @min 2.0
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* @decimal 2
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
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/**
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* Fast descend: minimum altitude error
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*
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* Minimum altitude error needed to descend with max airspeed and minimal throttle.
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* A negative value disables fast descend.
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*
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* @min -1.0
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* @decimal 0
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_F_ALT_ERR, -1.0f);
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/**
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* Height rate feed forward
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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 Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.3f);
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/**
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* True airspeed error time constant.
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*
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* @min 2.0
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* @decimal 2
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
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/**
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* Specific total energy rate first order filter time constant.
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*
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* This filter is applied to the specific total energy rate used for throttle damping.
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*
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* @min 0.0
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* @max 2
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* @decimal 2
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* @increment 0.01
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
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/**
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* Specific total energy balance rate feedforward gain.
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*
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*
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* @min 0.5
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* @max 3
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* @decimal 2
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* @increment 0.01
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
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/**
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* Wind-based airspeed scaling factor
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*
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* Multiplying this factor with the current absolute wind estimate gives the airspeed offset
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* added to the minimum airspeed setpoint limit. This helps to make the
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* system more robust against disturbances (turbulence) in high wind.
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*
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* @min 0
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* @decimal 2
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* @increment 0.01
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
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/**
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* Maximum descent rate
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*
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* @unit m/s
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* @min 1.0
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* @max 15.0
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* @decimal 1
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* @increment 0.5
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* @group FW Longitudinal Control
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*/
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PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
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@ -0,0 +1,239 @@
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module_name: fw_lateral_longitudinal_control
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parameters:
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- group: FW Lateral Control
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definitions:
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FW_PN_R_SLEW_MAX:
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description:
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short: Path navigation roll slew rate limit
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long: |-
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Maximum change in roll angle setpoint per second.
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Applied in all Auto modes, plus manual Position & Altitude modes.
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type: float
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default: 90.0
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unit: deg/s
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min: 0
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decimal: 0
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increment: 1
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- group: FW Longitudinal Control
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definitions:
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FW_GND_SPD_MIN:
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description:
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short: Minimum groundspeed
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long: |-
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The controller will increase the commanded airspeed to maintain
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this minimum groundspeed to the next waypoint.
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type: float
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default: 5.0
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unit: m/s
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min: 0.0
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max: 40
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decimal: 1
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increment: 0.5
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FW_THR_SLEW_MAX:
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description:
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short: Throttle max slew rate
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long: Maximum slew rate for the commanded throttle
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type: float
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default: 0.0
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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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FW_T_THR_LOW_HGT:
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description:
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short: Low-height threshold for tighter altitude tracking
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long: |-
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Height above ground threshold below which tighter altitude
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tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly
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(1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC
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to FW_LND_THRTC_SC*FW_T_ALT_TC.
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-1 to disable.
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type: float
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default: -1.0
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unit: m
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min: -1
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decimal: 0
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increment: 1
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FW_T_THR_DAMPING:
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description:
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short: Throttle damping factor
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long: This is the damping gain for the throttle demand loop.
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type: float
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default: 0.05
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min: 0.0
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max: 1.0
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decimal: 3
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increment: 0.01
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FW_T_THR_INTEG:
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description:
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short: Integrator gain throttle
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long: |-
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Increase it to trim out speed and height offsets faster,
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with the downside of possible overshoots and oscillations.
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type: float
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default: 0.02
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min: 0.0
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max: 1.0
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decimal: 3
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increment: 0.005
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FW_T_I_GAIN_PIT:
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description:
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short: Integrator gain pitch
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long: |-
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Increase it to trim out speed and height offsets faster,
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with the downside of possible overshoots and oscillations.
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type: float
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default: 0.1
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min: 0.0
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max: 2.0
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decimal: 2
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increment: 0.05
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FW_T_VERT_ACC:
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description:
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short: Maximum vertical acceleration
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long: |-
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This is the maximum vertical acceleration
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either up or down that the controller will use to correct speed
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or height errors.
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type: float
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default: 7.0
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unit: m/s^2
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min: 1.0
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max: 10.0
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decimal: 1
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increment: 0.5
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FW_T_SPD_STD:
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description:
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short: Airspeed measurement standard deviation
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long: For the airspeed filter in TECS.
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type: float
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default: 0.07
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unit: m/s
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min: 0.01
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max: 10.0
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decimal: 2
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increment: 0.1
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FW_T_SPD_DEV_STD:
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description:
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short: Airspeed rate measurement standard deviation
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long: For the airspeed filter in TECS.
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type: float
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default: 0.2
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unit: m/s^2
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min: 0.01
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max: 10.0
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decimal: 2
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increment: 0.1
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FW_T_SPD_PRC_STD:
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description:
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short: Process noise standard deviation for the airspeed rate
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long: |-
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This is defining the noise in the airspeed rate for the constant airspeed rate model
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of the TECS airspeed filter.
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type: float
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default: 0.2
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unit: m/s^2
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min: 0.01
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max: 10.0
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decimal: 2
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increment: 0.1
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FW_T_RLL2THR:
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description:
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short: Roll -> Throttle feedforward
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long: |-
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Is used to compensate for the additional drag created by turning.
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Increase this gain if the aircraft initially loses energy in turns
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and reduce if the aircraft initially gains energy in turns.
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type: float
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default: 15.0
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min: 0.0
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max: 20.0
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decimal: 1
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increment: 0.5
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FW_T_PTCH_DAMP:
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description:
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short: Pitch damping gain
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type: float
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default: 0.1
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min: 0.0
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max: 2.0
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decimal: 2
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increment: 0.1
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FW_T_ALT_TC:
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description:
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short: Altitude error time constant
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type: float
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default: 5.0
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min: 2.0
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decimal: 2
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increment: 0.5
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FW_T_F_ALT_ERR:
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description:
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short: 'Fast descend: minimum altitude error'
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long: |-
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Minimum altitude error needed to descend with max airspeed and minimal throttle.
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A negative value disables fast descend.
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type: float
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default: -1.0
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min: -1.0
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decimal: 0
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FW_T_HRATE_FF:
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description:
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short: Height rate feed forward
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type: float
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default: 0.3
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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_T_TAS_TC:
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description:
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short: True airspeed error time constant
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type: float
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default: 5.0
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min: 2.0
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decimal: 2
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increment: 0.5
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FW_T_STE_R_TC:
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description:
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short: Specific total energy rate first order filter time constant
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long: This filter is applied to the specific total energy rate used for throttle
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damping.
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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: 2
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decimal: 2
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increment: 0.01
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FW_T_SEB_R_FF:
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description:
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short: Specific total energy balance rate feedforward gain
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type: float
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default: 1.0
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min: 0.5
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max: 3
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decimal: 2
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increment: 0.01
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FW_WIND_ARSP_SC:
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description:
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short: Wind-based airspeed scaling factor
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long: |-
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Multiplying this factor with the current absolute wind estimate gives the airspeed offset
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added to the minimum airspeed setpoint limit. This helps to make the
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system more robust against disturbances (turbulence) in high wind.
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type: float
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default: 0.0
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min: 0
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decimal: 2
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increment: 0.01
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FW_T_SINK_MAX:
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description:
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short: Maximum descent rate
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type: float
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default: 5.0
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unit: m/s
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min: 1.0
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max: 15.0
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decimal: 1
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increment: 0.5
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