Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_PosControl: set alt hold accel control D term filter

This commit is contained in:
Randy Mackay 2014-05-27 22:44:57 +09:00
parent 0969e464fb
commit 29ca7a10df
2 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -73,6 +73,16 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
/// z-axis position controller /// z-axis position controller
/// ///
/// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
void AC_PosControl::set_dt(float delta_sec)
{
_dt = delta_sec;
// update rate controller's d filter
_pid_alt_accel.set_d_lpf_alpha(POSCONTROOL_ACCEL_Z_DTERM_FILTER, _dt);
}
/// set_speed_z - sets maximum climb and descent rates /// set_speed_z - sets maximum climb and descent rates
/// To-Do: call this in the main code as part of flight mode initialisation /// To-Do: call this in the main code as part of flight mode initialisation
/// calc_leash_length_z should be called afterwards /// calc_leash_length_z should be called afterwards

5
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -36,6 +36,8 @@
#define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 200ms (0.2 seconds) #define POSCONTROL_ACTIVE_TIMEOUT_MS 200 // position controller is considered active if it has been called within the past 200ms (0.2 seconds)
#define POSCONTROOL_ACCEL_Z_DTERM_FILTER 20 // Z axis accel controller's D term filter (in hz)
class AC_PosControl class AC_PosControl
{ {
public: public:
@ -51,7 +53,8 @@ public:
/// ///
/// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025) /// set_dt - sets time delta in seconds for all controllers (i.e. 100hz = 0.01, 400hz = 0.0025)
void set_dt(float delta_sec) { _dt = delta_sec; } /// updates z axis accel controller's D term filter
void set_dt(float delta_sec);
float get_dt() const { return _dt; } float get_dt() const { return _dt; }
/// ///