mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:33:34 +08:00
Daniel Agar
093e9ba1ce
* mc_rate_control: use vehicle_angular_acceleration topic * IMU_DGYRO_CUTOFF change default to 30 Hz * improve IMU_DGYRO_CUTOFF param documentation (updated from MC_DTERM_CUTOFF)
398 lines
9.9 KiB
C
398 lines
9.9 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 mc_rate_control_params.c
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* Parameters for multicopter attitude 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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*/
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/**
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* Roll rate P gain
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*
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* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.01
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* @max 0.5
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* @decimal 3
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
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/**
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* Roll rate I gain
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*
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* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.2f);
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/**
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* Roll rate integrator limit
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*
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* Roll rate 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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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_RR_INT_LIM, 0.30f);
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/**
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* Roll rate D gain
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*
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* Roll rate 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 0.01
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* @decimal 4
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* @increment 0.0005
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
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/**
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* Roll rate feedforward
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*
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* Improves tracking performance.
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*
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* @min 0.0
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* @decimal 4
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
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/**
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* Roll rate 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 = MC_ROLLRATE_K * (MC_ROLLRATE_P * error
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* + MC_ROLLRATE_I * error_integral
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* + MC_ROLLRATE_D * error_derivative)
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* Set MC_ROLLRATE_P=1 to implement a PID in the ideal form.
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* Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
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*
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* @min 0.01
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f);
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/**
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* Pitch rate P gain
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*
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* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.01
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* @max 0.6
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* @decimal 3
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
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/**
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* Pitch rate I gain
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*
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* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.2f);
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/**
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* Pitch rate integrator limit
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*
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* Pitch rate 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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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PR_INT_LIM, 0.30f);
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/**
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* Pitch rate D gain
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*
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* Pitch rate 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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* @decimal 4
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* @increment 0.0005
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
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/**
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* Pitch rate feedforward
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*
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* Improves tracking performance.
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*
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* @min 0.0
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* @decimal 4
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
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/**
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* Pitch rate 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 = MC_PITCHRATE_K * (MC_PITCHRATE_P * error
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* + MC_PITCHRATE_I * error_integral
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* + MC_PITCHRATE_D * error_derivative)
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* Set MC_PITCHRATE_P=1 to implement a PID in the ideal form.
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* Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
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*
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* @min 0.01
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_K, 1.0f);
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/**
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* Yaw rate P gain
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*
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* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.0
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* @max 0.6
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
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/**
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* Yaw rate I gain
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*
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* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
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/**
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* Yaw rate integrator limit
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*
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* Yaw rate 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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* @min 0.0
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YR_INT_LIM, 0.30f);
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/**
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* Yaw rate D gain
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*
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* Yaw rate 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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* @decimal 2
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* @increment 0.01
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
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/**
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* Yaw rate feedforward
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*
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* Improves tracking performance.
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*
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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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
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/**
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* Yaw rate 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 = MC_YAWRATE_K * (MC_YAWRATE_P * error
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* + MC_YAWRATE_I * error_integral
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* + MC_YAWRATE_D * error_derivative)
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* Set MC_YAWRATE_P=1 to implement a PID in the ideal form.
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* Set MC_YAWRATE_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 Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f);
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/**
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* Max acro roll rate
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f);
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/**
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* Max acro pitch rate
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f);
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/**
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* Max acro yaw rate
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* default 1.5 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f);
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/**
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* Acro mode Expo factor for Roll and Pitch.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
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/**
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* Acro mode Expo factor for Yaw.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.69f);
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/**
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* Acro mode SuperExpo factor for Roll and Pitch.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO.
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*
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* 0 Pure Expo function
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* 0.7 resonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f);
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/**
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* Acro mode SuperExpo factor for Yaw.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.
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*
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* 0 Pure Expo function
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* 0.7 resonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.7f);
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/**
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* Battery power level scaler
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*
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* This compensates for voltage drop of the battery over time by attempting to
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* normalize performance across the operating range of the battery. The copter
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* should constantly behave as if it was fully charged with reduced max acceleration
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* at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
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* it will still be 0.5 at 60% battery.
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*
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* @boolean
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_INT32(MC_BAT_SCALE_EN, 0);
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