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Copter: integrate PID input filter

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This commit is contained in:
Leonard Hall 2015-03-04 12:47:05 +09:00 committed by Randy Mackay
parent d233ca3133
commit 2b0fb45fe8
2 changed files with 24 additions and 8 deletions
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16
ArduCopter/Parameters.h
View File

@ -509,17 +509,17 @@ public:
rc_14 (CH_14), rc_14 (CH_14),
#endif #endif
// PID controller initial P initial I initial D initial imax // PID controller initial P initial I initial D initial imax initial filt hz pid rate
//---------------------------------------------------------------------------------------------------------- //---------------------------------------------------------------------------------------------------------------------------------
pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX), pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS),
pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX), pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS),
pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX), pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS),
pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX, LOITER_RATE_FILT_HZ,WPNAV_LOITER_UPDATE_TIME),
pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX), pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX, LOITER_RATE_FILT_HZ,WPNAV_LOITER_UPDATE_TIME),
p_throttle_rate (THROTTLE_RATE_P), p_throttle_rate (THROTTLE_RATE_P),
pid_throttle_accel (THROTTLE_ACCEL_P, THROTTLE_ACCEL_I, THROTTLE_ACCEL_D, THROTTLE_ACCEL_IMAX), pid_throttle_accel (THROTTLE_ACCEL_P,THROTTLE_ACCEL_I, THROTTLE_ACCEL_D,THROTTLE_ACCEL_IMAX, THROTTLE_ACCEL_FILT_HZ, MAIN_LOOP_SECONDS),
// P controller initial P // P controller initial P
//---------------------------------------------------------------------- //----------------------------------------------------------------------

16
ArduCopter/config.h
View File

@ -596,6 +596,9 @@
#ifndef RATE_ROLL_IMAX #ifndef RATE_ROLL_IMAX
# define RATE_ROLL_IMAX 1000 # define RATE_ROLL_IMAX 1000
#endif #endif
#ifndef RATE_ROLL_FILT_HZ
# define RATE_ROLL_FILT_HZ 20.0f
#endif
#ifndef RATE_PITCH_P #ifndef RATE_PITCH_P
# define RATE_PITCH_P 0.150f # define RATE_PITCH_P 0.150f
@ -609,6 +612,10 @@
#ifndef RATE_PITCH_IMAX #ifndef RATE_PITCH_IMAX
# define RATE_PITCH_IMAX 1000 # define RATE_PITCH_IMAX 1000
#endif #endif
#ifndef RATE_PITCH_FILT_HZ
# define RATE_PITCH_FILT_HZ 20.0f
#endif
#ifndef RATE_YAW_P #ifndef RATE_YAW_P
# define RATE_YAW_P 0.200f # define RATE_YAW_P 0.200f
@ -622,6 +629,9 @@
#ifndef RATE_YAW_IMAX #ifndef RATE_YAW_IMAX
# define RATE_YAW_IMAX 1000 # define RATE_YAW_IMAX 1000
#endif #endif
#ifndef RATE_YAW_FILT_HZ
# define RATE_YAW_FILT_HZ AC_PID_FILT_HZ_DEFAULT
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Loiter position control gains // Loiter position control gains
@ -645,6 +655,9 @@
#ifndef LOITER_RATE_IMAX #ifndef LOITER_RATE_IMAX
# define LOITER_RATE_IMAX 1000 // maximum acceleration from I term build-up in cm/s/s # define LOITER_RATE_IMAX 1000 // maximum acceleration from I term build-up in cm/s/s
#endif #endif
#ifndef LOITER_RATE_FILT_HZ
# define LOITER_RATE_FILT_HZ 5.0f
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// PosHold parameter defaults // PosHold parameter defaults
@ -703,6 +716,9 @@
#ifndef THROTTLE_ACCEL_IMAX #ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 800 # define THROTTLE_ACCEL_IMAX 800
#endif #endif
#ifndef THROTTLE_ACCEL_FILT_HZ
# define THROTTLE_ACCEL_FILT_HZ 20.0f
#endif
// default maximum vertical velocity and acceleration the pilot may request // default maximum vertical velocity and acceleration the pilot may request
#ifndef PILOT_VELZ_MAX #ifndef PILOT_VELZ_MAX