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APM_Control: Support PD Max

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Leonard Hall 2023-09-19 11:16:29 +09:30 committed by Andrew Tridgell
parent 8068f72be3
commit 029950ef05
4 changed files with 49 additions and 0 deletions
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7
libraries/APM_Control/AP_PitchController.cpp
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@ -131,6 +131,13 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _RATE_PDMX
// @DisplayName: Pitch axis rate controller PD sum maximum
// @Description: Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 11, AP_PitchController, AC_PID), AP_SUBGROUPINFO(rate_pid, "_RATE_", 11, AP_PitchController, AC_PID),
AP_GROUPEND AP_GROUPEND

7
libraries/APM_Control/AP_RollController.cpp
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@ -114,6 +114,13 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _RATE_PDMX
// @DisplayName: Roll axis rate controller PD sum maximum
// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_RollController, AC_PID), AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_RollController, AC_PID),
AP_GROUPEND AP_GROUPEND

7
libraries/APM_Control/AP_YawController.cpp
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@ -145,6 +145,13 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _RATE_PDMX
// @DisplayName: Yaw axis rate controller PD sum maximum
// @Description: Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_YawController, AC_PID), AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_YawController, AC_PID),
AP_GROUPEND AP_GROUPEND

28
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -141,6 +141,13 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _STR_RAT_PDMX
// @DisplayName: Steering control PD sum maximum
// @Description: Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
// @Param: _SPEED_P // @Param: _SPEED_P
@ -217,6 +224,13 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _SPEED_PDMX
// @DisplayName: Speed control PD sum maximum
// @Description: Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
// @Param: _ACCEL_MAX // @Param: _ACCEL_MAX
@ -353,6 +367,13 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _BAL_PDMX
// @DisplayName: Pitch control PD sum maximum
// @Description: Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
// @Param: _BAL_PIT_FF // @Param: _BAL_PIT_FF
@ -437,6 +458,13 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.5 // @Increment: 0.5
// @User: Advanced // @User: Advanced
// @Param: _SAIL_PDMX
// @DisplayName: Sail Heel control PD sum maximum
// @Description: Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @User: Advanced
AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),
// @Param: _TURN_MAX_G // @Param: _TURN_MAX_G