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mTecs param @unit

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Daniel Agar 2016-03-13 14:32:20 -04:00 committed by Lorenz Meier
parent 344555e086
commit fa66055a92
1 changed files with 31 additions and 4 deletions
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35
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
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@ -48,8 +48,7 @@
*
* Set to 1 to enable mTECS
*
* @min 0
* @max 1
* @unit boolean
* @group mTECS
*/
PARAM_DEFINE_INT32(MT_ENABLED, 0);
@ -58,6 +57,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0);
* Total Energy Rate Control Feedforward
* Maps the total energy rate setpoint to the throttle setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -68,6 +68,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f);
* Total Energy Rate Control P
* Maps the total energy rate error to the throttle setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -78,6 +79,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
* Total Energy Rate Control I
* Maps the integrated total energy rate to the throttle setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -87,6 +89,7 @@ PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f);
/**
* Total Energy Rate Control Offset (Cruise throttle sp)
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -97,6 +100,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
* Energy Distribution Rate Control Feedforward
* Maps the energy distribution rate setpoint to the pitch setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -107,6 +111,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f);
* Energy Distribution Rate Control P
* Maps the energy distribution rate error to the pitch setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -117,6 +122,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
* Energy Distribution Rate Control I
* Maps the integrated energy distribution rate error to the pitch setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -127,6 +133,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
/**
* Total Energy Distribution Offset (Cruise pitch sp)
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -136,6 +143,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f);
/**
* Minimal Throttle Setpoint
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -145,6 +153,7 @@ PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f);
/**
* Maximal Throttle Setpoint
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -174,6 +183,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
/**
* Lowpass (cutoff freq.) for altitude
*
* @unit Hz
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
@ -181,6 +191,7 @@ PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
/**
* Lowpass (cutoff freq.) for the flight path angle
*
* @unit Hz
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
@ -189,6 +200,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
* P gain for the altitude control
* Maps the altitude error to the flight path angle setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -199,6 +211,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
* D gain for the altitude control
* Maps the change of altitude error to the flight path angle setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -208,6 +221,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
/**
* Lowpass for FPA error derivative calculation (see MT_FPA_D)
*
* @unit
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
@ -236,6 +250,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
/**
* Lowpass (cutoff freq.) for airspeed
*
* @unit
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
@ -243,6 +258,7 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
/**
* Airspeed derivative calculation lowpass
*
* @unit
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
@ -251,6 +267,7 @@ PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
* P gain for the airspeed control
* Maps the airspeed error to the acceleration setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -261,6 +278,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
* D gain for the airspeed control
* Maps the change of airspeed error to the acceleration setpoint
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -270,6 +288,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
/**
* Lowpass for ACC error derivative calculation (see MT_ACC_D)
*
* @unit
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
@ -277,7 +296,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
/**
* Minimal acceleration (air)
*
* @unit m/s^2
* @unit m/s/s
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
@ -285,7 +304,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
/**
* Maximal acceleration (air)
*
* @unit m/s^2
* @unit m/s/s
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
@ -293,6 +312,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
/**
* Minimal throttle during takeoff
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -302,6 +322,7 @@ PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
/**
* Maximal throttle during takeoff
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -331,6 +352,7 @@ PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f);
/**
* Minimal throttle in underspeed mode
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -340,6 +362,7 @@ PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
/**
* Maximal throttle in underspeed mode
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -369,6 +392,7 @@ PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
/**
* Minimal throttle in landing mode (only last phase of landing)
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -378,6 +402,7 @@ PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
/**
* Maximal throttle in landing mode (only last phase of landing)
*
* @unit
* @min 0.0
* @max 1.0
* @group mTECS
@ -407,6 +432,7 @@ PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);
/**
* Integrator Limit for Total Energy Rate Control
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS
@ -416,6 +442,7 @@ PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
/**
* Integrator Limit for Energy Distribution Rate Control
*
* @unit
* @min 0.0
* @max 10.0
* @group mTECS