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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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416 lines
9.5 KiB
C
416 lines
9.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2015 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_pos_control_params.c
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* Multicopter position controller parameters.
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*
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* @author Anton Babushkin <anton@px4.io>
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*/
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/**
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* Minimum thrust in auto thrust control
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*
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* It's recommended to set it > 0 to avoid free fall with zero thrust.
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*
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* @min 0.05
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* @max 1.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
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/**
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* Hover thrust
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*
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* Vertical thrust required to hover.
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* This value is mapped to center stick for manual throttle control.
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* With this value set to the thrust required to hover, transition
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* from manual to ALTCTL mode while hovering will occur with the
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* throttle stick near center, which is then interpreted as (near)
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* zero demand for vertical speed.
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*
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* @min 0.2
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* @max 0.8
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
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/**
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* ALTCTL throttle curve breakpoint
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*
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* Halfwidth of deadband or reduced sensitivity center portion of curve.
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* This is the halfwidth of the center region of the ALTCTL throttle
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* curve. It extends from center-dz to center+dz.
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*
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* @min 0.0
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* @max 0.2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_ALTCTL_DZ, 0.1f);
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/**
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* ALTCTL throttle curve breakpoint height
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*
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* Controls the slope of the reduced sensitivity region.
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* This is the height of the ALTCTL throttle
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* curve at center-dz and center+dz.
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*
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* @min 0.0
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* @max 0.2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_ALTCTL_DY, 0.0f);
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/**
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* Maximum thrust in auto thrust control
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*
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* Limit max allowed thrust. Setting a value of one can put
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* the system into actuator saturation as no spread between
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* the motors is possible any more. A value of 0.8 - 0.9
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* is recommended.
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*
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* @min 0.0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
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/**
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* Minimum manual thrust
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*
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* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
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/**
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* Maximum manual thrust
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*
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* Limit max allowed thrust. Setting a value of one can put
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* the system into actuator saturation as no spread between
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* the motors is possible any more. A value of 0.8 - 0.9
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* is recommended.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
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/**
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* Proportional gain for vertical position error
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*
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
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/**
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* Proportional gain for vertical velocity error
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*
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
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/**
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* Integral gain for vertical velocity error
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*
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* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
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*
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* @min 0.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
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/**
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* Differential gain for vertical velocity error
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*
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* @min 0.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
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/**
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* Maximum vertical velocity
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*
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* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
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*
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* @unit m/s
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* @min 0.0
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* @max 8.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
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/**
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* Vertical velocity feed forward
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*
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* Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
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/**
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* Proportional gain for horizontal position error
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*
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
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/**
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* Proportional gain for horizontal velocity error
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*
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);
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/**
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* Integral gain for horizontal velocity error
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*
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* Non-zero value allows to resist wind.
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*
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* @min 0.0
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* @decimal 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
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/**
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* Differential gain for horizontal velocity error. 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 3
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
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/**
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* Nominal horizontal velocity
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*
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* Normal horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
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*
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* @unit m/s
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
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/**
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* Maximum horizontal velocity
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*
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* Maximum horizontal velocity in AUTO mode.
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*
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* @unit m/s
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* @min 0.0
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* @max 20.0
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* @increment 1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f);
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/**
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* Horizontal velocity feed forward
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*
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* Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
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/**
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* Maximum tilt angle in air
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*
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* Limits maximum tilt in AUTO and POSCTRL modes during flight.
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
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/**
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* Maximum tilt during landing
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*
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* Limits maximum tilt angle on landing.
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
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/**
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* Landing descend rate
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*
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* @unit m/s
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* @min 0.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f);
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/**
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* Takeoff climb rate
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*
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* @unit m/s
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
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/**
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* Max manual roll
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
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/**
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* Max manual pitch
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
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/**
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* Max manual yaw rate
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*
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* @unit deg/s
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* @min 0.0
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* @decimal 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 200.0f);
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/**
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* Deadzone of X,Y sticks where position hold is enabled
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
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/**
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* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
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*
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* @unit m/s
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
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/**
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* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
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*
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* @unit m/s
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
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/**
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* Low pass filter cut freq. for numerical velocity derivative
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*
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* @unit Hz
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* @min 0.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
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/**
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* Maximum horizonal acceleration in velocity controlled modes
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*
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* @unit m/s/s
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* @min 2.0
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* @max 15.0
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* @increment 1
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
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/**
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* Altitude control mode
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*
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* @min 0
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* @max 1
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* @value 0 Altitude following
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* @value 1 Terrain following
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
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