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re-added turn coordination gains (TESTING CODE)

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Marvin Harms
2022-06-29 17:42:47 +02:00
parent 4db29df3b7
commit c287c56f8d
3 changed files with 27 additions and 2 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+2 -2
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@@ -119,10 +119,10 @@ FixedwingPositionINDIControl::parameters_update()
_K_a(2,2) = _param_lin_ff_z.get();
_K_q(0,0) = _param_rot_k_roll.get();
_K_q(1,1) = _param_rot_k_pitch.get();
_K_q(2,2) = 0.f; // rudder is controlled via turn coordination, not INDI
_K_q(2,2) = _param_rot_k_yaw.get(); // rudder is controlled via turn coordination, not INDI
_K_w(0,0) = _param_rot_c_roll.get()*2.f*sqrtf(_param_rot_k_roll.get());
_K_w(1,1) = _param_rot_c_pitch.get()*2.f*sqrtf(_param_rot_k_pitch.get());
_K_w(2,2) = 0.f; // rudder is controlled via turn coordination, not INDI
_K_w(2,2) = _param_rot_c_yaw.get()*2.f*sqrtf(_param_rot_k_yaw.get()); // rudder is controlled via turn coordination, not INDI
// aircraft parameters
_inertia(0,0) = _param_fw_inertia_roll.get();
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+2
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@@ -190,8 +190,10 @@ private:
// attitude PD control params
(ParamFloat<px4::params::DS_ROT_K_ROLL>) _param_rot_k_roll,
(ParamFloat<px4::params::DS_ROT_K_PITCH>) _param_rot_k_pitch,
(ParamFloat<px4::params::DS_ROT_K_YAW>) _param_rot_k_yaw,
(ParamFloat<px4::params::DS_ROT_C_ROLL>) _param_rot_c_roll,
(ParamFloat<px4::params::DS_ROT_C_PITCH>) _param_rot_c_pitch,
(ParamFloat<px4::params::DS_ROT_C_YAW>) _param_rot_c_yaw,
// low-level controller params (INDI)
(ParamFloat<px4::params::DS_K_ACT_ROLL>) _param_k_act_roll,
(ParamFloat<px4::params::DS_K_ACT_PITCH>) _param_k_act_pitch,
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+23
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@@ -329,6 +329,17 @@ PARAM_DEFINE_FLOAT(DS_ROT_K_ROLL, 10.0f);
*/
PARAM_DEFINE_FLOAT(DS_ROT_K_PITCH, 10.0f);
/**
* rudder turn coordination P-gain
*
* @unit
* @min 0
* @max 20
* @decimal 1
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ROT_K_YAW, 0.5f);
/**
* normalized damping coefficient of attitude PD-controller (body roll-direction)
@@ -354,6 +365,18 @@ PARAM_DEFINE_FLOAT(DS_ROT_C_ROLL, 0.75f);
*/
PARAM_DEFINE_FLOAT(DS_ROT_C_PITCH, 0.75f);
/**
* normalized damping coefficient of rudder (turn coordination)
*
* @unit
* @min 0
* @max 2
* @decimal 2
* @increment 0.01
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ROT_C_YAW, 0.75f);
// =============================
// low level INDI control params