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Tracker: add documentation for PID notches and D feed-foward 

update PID notch centers at 1Hz with average loop rate
This commit is contained in:
Andy Piper 2023-08-10 12:08:38 +01:00 committed by Andrew Tridgell
parent 9211dba484
commit 25b66ef6ca
2 changed files with 84 additions and 0 deletions
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82
AntennaTracker/Parameters.cpp
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@ -387,6 +387,47 @@ const AP_Param::Info Tracker::var_info[] = {
// @Units: d% // @Units: d%
// @User: Advanced // @User: Advanced
// @Param: PITCH2SRV_ADV
// @DisplayName: Advanced Pitch parameters enable
// @Description: Advanced Pitch parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: PITCH2SRV_D_FF
// @DisplayName: Pitch Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Advanced
// @Param: PITCH2SRV_NTF
// @DisplayName: Pitch Target notch Filter center frequency
// @Description: Pitch Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: PITCH2SRV_NEF
// @DisplayName: Pitch Error notch Filter center frequency
// @Description: Pitch Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: PITCH2SRV_NBW
// @DisplayName: Pitch notch Filter bandwidth
// @Description: Pitch notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: PITCH2SRV_NATT
// @DisplayName: Pitch notch Filter attenuation
// @Description: Pitch notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
GGROUP(pidPitch2Srv, "PITCH2SRV_", AC_PID), GGROUP(pidPitch2Srv, "PITCH2SRV_", AC_PID),
// @Param: YAW2SRV_P // @Param: YAW2SRV_P
@ -464,6 +505,47 @@ const AP_Param::Info Tracker::var_info[] = {
// @Units: d% // @Units: d%
// @User: Advanced // @User: Advanced
// @Param: YAW2SRV_ADV
// @DisplayName: Advanced Yaw parameters enable
// @Description: Advanced Yaw parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: YAW2SRV_D_FF
// @DisplayName: Yaw Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Advanced
// @Param: YAW2SRV_NTF
// @DisplayName: Yaw Target notch Filter center frequency
// @Description: Yaw Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: YAW2SRV_NEF
// @DisplayName: Yaw Error notch Filter center frequency
// @Description: Yaw Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: YAW2SRV_NBW
// @DisplayName: Yaw notch Filter bandwidth
// @Description: Yaw notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: YAW2SRV_NATT
// @DisplayName: Yaw notch Filter attenuation
// @Description: Yaw notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
GGROUP(pidYaw2Srv, "YAW2SRV_", AC_PID), GGROUP(pidYaw2Srv, "YAW2SRV_", AC_PID),
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED

2
AntennaTracker/Tracker.cpp
View File

@ -103,6 +103,8 @@ void Tracker::one_second_loop()
set_likely_flying(hal.util->get_soft_armed()); set_likely_flying(hal.util->get_soft_armed());
AP_Notify::flags.flying = hal.util->get_soft_armed(); AP_Notify::flags.flying = hal.util->get_soft_armed();
g.pidYaw2Srv.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
} }
void Tracker::ten_hz_logging_loop() void Tracker::ten_hz_logging_loop()