/**************************************************************************** * * Copyright (c) 2013-2019 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 * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file angular_velocity_controller_params.c * Parameters for angular velocity controller. * * @author Lorenz Meier * @author Anton Babushkin * @author Julien Lecoeur */ /** * Body X axis angular velocity P gain * * Body X axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s. * * @unit 1/s * @min 0.0 * @max 20.0 * @decimal 3 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_P, 18.f); /** * Body X axis angular velocity I gain * * Body X axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset. * * @unit Nm/rad * @min 0.0 * @decimal 3 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_I, 0.2f); /** * Body X axis angular velocity integrator limit * * Body X axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. * * @unit Nm * @min 0.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_I_LIM, 0.3f); /** * Body X axis angular velocity D gain * * Body X axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. * * @min 0.0 * @max 2.0 * @decimal 4 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_D, 0.36f); /** * Body X axis angular velocity feedforward gain * * Improves tracking performance. * * @unit Nm/(rad/s) * @min 0.0 * @decimal 4 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_FF, 0.0f); /** * Body X axis angular velocity controller gain * * Global gain of the controller. * * This gain scales the P, I and D terms of the controller: * output = AVC_X_K * (AVC_X_P * error * + AVC_X_I * error_integral * + AVC_X_D * error_derivative) * Set AVC_X_P=1 to implement a PID in the ideal form. * Set AVC_X_K=1 to implement a PID in the parallel form. * * @min 0.0 * @max 5.0 * @decimal 4 * @increment 0.0005 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_X_K, 1.0f); /** * Body Y axis angular velocity P gain * * Body Y axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s. * * @unit 1/s * @min 0.0 * @max 20.0 * @decimal 3 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_P, 18.f); /** * Body Y axis angular velocity I gain * * Body Y axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset. * * @unit Nm/rad * @min 0.0 * @decimal 3 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_I, 0.2f); /** * Body Y axis angular velocity integrator limit * * Body Y axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. * * @unit Nm * @min 0.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_I_LIM, 0.3f); /** * Body Y axis angular velocity D gain * * Body Y axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. * * @min 0.0 * @max 2.0 * @decimal 4 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_D, 0.36f); /** * Body Y axis angular velocity feedforward * * Improves tracking performance. * * @unit Nm/(rad/s) * @min 0.0 * @decimal 4 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_FF, 0.0f); /** * Body Y axis angular velocity controller gain * * Global gain of the controller. * * This gain scales the P, I and D terms of the controller: * output = AVC_Y_K * (AVC_Y_P * error * + AVC_Y_I * error_integral * + AVC_Y_D * error_derivative) * Set AVC_Y_P=1 to implement a PID in the ideal form. * Set AVC_Y_K=1 to implement a PID in the parallel form. * * @min 0.0 * @max 20.0 * @decimal 4 * @increment 0.0005 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Y_K, 1.0f); /** * Body Z axis angular velocity P gain * * Body Z axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s. * * @unit 1/s * @min 0.0 * @max 20.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_P, 7.f); /** * Body Z axis angular velocity I gain * * Body Z axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset. * * @unit Nm/rad * @min 0.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_I, 0.1f); /** * Body Z axis angular velocity integrator limit * * Body Z axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. * * @unit Nm * @min 0.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_I_LIM, 0.30f); /** * Body Z axis angular velocity D gain * * Body Z axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. * * @min 0.0 * @max 2.0 * @decimal 2 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_D, 0.0f); /** * Body Z axis angular velocity feedforward * * Improves tracking performance. * * @unit Nm/(rad/s) * @min 0.0 * @decimal 4 * @increment 0.01 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_FF, 0.0f); /** * Body Z axis angular velocity controller gain * * Global gain of the controller. * * This gain scales the P, I and D terms of the controller: * output = AVC_Z_K * (AVC_Z_P * error * + AVC_Z_I * error_integral * + AVC_Z_D * error_derivative) * Set AVC_Z_P=1 to implement a PID in the ideal form. * Set AVC_Z_K=1 to implement a PID in the parallel form. * * @min 0.0 * @max 5.0 * @decimal 4 * @increment 0.0005 * @group Angular Velocity Control */ PARAM_DEFINE_FLOAT(AVC_Z_K, 1.0f);