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343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
298 lines
8.0 KiB
C
298 lines
8.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file angular_velocity_controller_params.c
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* Parameters for angular velocity controller.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Anton Babushkin <anton@px4.io>
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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/**
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* Body X axis angular velocity P gain
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*
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* Body X axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @unit 1/s
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* @min 0.0
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* @max 20.0
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* @decimal 3
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_P, 18.f);
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/**
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* Body X axis angular velocity I gain
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*
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* Body X axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @unit Nm/rad
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* @min 0.0
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* @decimal 3
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_I, 0.2f);
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/**
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* Body X axis angular velocity integrator limit
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*
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* 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.
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*
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* @unit Nm
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_I_LIM, 0.3f);
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/**
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* Body X axis angular velocity D gain
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*
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* Body X axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* @min 0.0
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* @max 2.0
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* @decimal 4
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_D, 0.36f);
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/**
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* Body X axis angular velocity feedforward gain
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*
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* Improves tracking performance.
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*
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* @unit Nm/(rad/s)
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* @min 0.0
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* @decimal 4
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_FF, 0.0f);
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/**
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* Body X axis angular velocity controller gain
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*
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* Global gain of the controller.
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*
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* This gain scales the P, I and D terms of the controller:
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* output = AVC_X_K * (AVC_X_P * error
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* + AVC_X_I * error_integral
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* + AVC_X_D * error_derivative)
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* Set AVC_X_P=1 to implement a PID in the ideal form.
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* Set AVC_X_K=1 to implement a PID in the parallel form.
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*
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* @min 0.0
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* @max 5.0
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* @decimal 4
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* @increment 0.0005
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_X_K, 1.0f);
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/**
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* Body Y axis angular velocity P gain
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*
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* Body Y axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @unit 1/s
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* @min 0.0
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* @max 20.0
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* @decimal 3
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_P, 18.f);
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/**
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* Body Y axis angular velocity I gain
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*
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* Body Y axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @unit Nm/rad
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* @min 0.0
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* @decimal 3
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_I, 0.2f);
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/**
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* Body Y axis angular velocity integrator limit
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*
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* 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.
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*
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* @unit Nm
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_I_LIM, 0.3f);
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/**
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* Body Y axis angular velocity D gain
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*
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* Body Y axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* @min 0.0
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* @max 2.0
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* @decimal 4
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_D, 0.36f);
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/**
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* Body Y axis angular velocity feedforward
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*
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* Improves tracking performance.
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*
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* @unit Nm/(rad/s)
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* @min 0.0
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* @decimal 4
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_FF, 0.0f);
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/**
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* Body Y axis angular velocity controller gain
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*
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* Global gain of the controller.
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*
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* This gain scales the P, I and D terms of the controller:
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* output = AVC_Y_K * (AVC_Y_P * error
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* + AVC_Y_I * error_integral
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* + AVC_Y_D * error_derivative)
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* Set AVC_Y_P=1 to implement a PID in the ideal form.
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* Set AVC_Y_K=1 to implement a PID in the parallel form.
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*
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* @min 0.0
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* @max 20.0
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* @decimal 4
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* @increment 0.0005
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Y_K, 1.0f);
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/**
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* Body Z axis angular velocity P gain
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*
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* Body Z axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @unit 1/s
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* @min 0.0
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* @max 20.0
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* @decimal 2
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_P, 7.f);
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/**
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* Body Z axis angular velocity I gain
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*
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* Body Z axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @unit Nm/rad
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_I, 0.1f);
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/**
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* Body Z axis angular velocity integrator limit
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*
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* 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.
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*
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* @unit Nm
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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_I_LIM, 0.30f);
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/**
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* Body Z axis angular velocity D gain
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*
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* Body Z axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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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 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_D, 0.0f);
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/**
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* Body Z axis angular velocity feedforward
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*
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* Improves tracking performance.
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*
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* @unit Nm/(rad/s)
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* @min 0.0
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* @decimal 4
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* @increment 0.01
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_FF, 0.0f);
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/**
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* Body Z axis angular velocity controller gain
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*
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* Global gain of the controller.
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*
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* This gain scales the P, I and D terms of the controller:
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* output = AVC_Z_K * (AVC_Z_P * error
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* + AVC_Z_I * error_integral
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* + AVC_Z_D * error_derivative)
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* Set AVC_Z_P=1 to implement a PID in the ideal form.
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* Set AVC_Z_K=1 to implement a PID in the parallel form.
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*
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* @min 0.0
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* @max 5.0
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* @decimal 4
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* @increment 0.0005
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* @group Angular Velocity Control
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*/
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PARAM_DEFINE_FLOAT(AVC_Z_K, 1.0f);
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