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AR_AttitudeControl: update param desc increment and range

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This commit is contained in:
Randy Mackay 2020-09-16 10:25:12 +09:00
parent 5a0e8daf61
commit 2db57dffac
1 changed files with 29 additions and 2 deletions
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31
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -26,14 +26,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @DisplayName: Steering control rate P gain // @DisplayName: Steering control rate P gain
// @Description: Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1) // @Description: Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)
// @Range: 0.000 2.000 // @Range: 0.000 2.000
// @Increment: 0.01 // @Increment: 0.001
// @User: Standard // @User: Standard
// @Param: _STR_RAT_I // @Param: _STR_RAT_I
// @DisplayName: Steering control I gain // @DisplayName: Steering control I gain
// @Description: Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual // @Description: Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual
// @Range: 0.000 2.000 // @Range: 0.000 2.000
// @Increment: 0.01 // @Increment: 0.001
// @User: Standard // @User: Standard
// @Param: _STR_RAT_IMAX // @Param: _STR_RAT_IMAX
@ -68,18 +68,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _STR_RAT_FLTT // @Param: _STR_RAT_FLTT
// @DisplayName: Steering control Target filter frequency in Hz // @DisplayName: Steering control Target filter frequency in Hz
// @Description: Target filter frequency in Hz // @Description: Target filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _STR_RAT_FLTE // @Param: _STR_RAT_FLTE
// @DisplayName: Steering control Error filter frequency in Hz // @DisplayName: Steering control Error filter frequency in Hz
// @Description: Error filter frequency in Hz // @Description: Error filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _STR_RAT_FLTD // @Param: _STR_RAT_FLTD
// @DisplayName: Steering control Derivative term filter frequency in Hz // @DisplayName: Steering control Derivative term filter frequency in Hz
// @Description: Derivative filter frequency in Hz // @Description: Derivative filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
@ -95,6 +101,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @DisplayName: Speed control I gain // @DisplayName: Speed control I gain
// @Description: Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed // @Description: Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed
// @Range: 0.000 2.000 // @Range: 0.000 2.000
// @Increment: 0.01
// @User: Standard // @User: Standard
// @Param: _SPEED_IMAX // @Param: _SPEED_IMAX
@ -129,18 +136,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _SPEED_FLTT // @Param: _SPEED_FLTT
// @DisplayName: Speed control Target filter frequency in Hz // @DisplayName: Speed control Target filter frequency in Hz
// @Description: Target filter frequency in Hz // @Description: Target filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _SPEED_FLTE // @Param: _SPEED_FLTE
// @DisplayName: Speed control Error filter frequency in Hz // @DisplayName: Speed control Error filter frequency in Hz
// @Description: Error filter frequency in Hz // @Description: Error filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _SPEED_FLTD // @Param: _SPEED_FLTD
// @DisplayName: Speed control Derivative term filter frequency in Hz // @DisplayName: Speed control Derivative term filter frequency in Hz
// @Description: Derivative filter frequency in Hz // @Description: Derivative filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
@ -216,6 +229,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @DisplayName: Pitch control I gain // @DisplayName: Pitch control I gain
// @Description: Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch // @Description: Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch
// @Range: 0.000 2.000 // @Range: 0.000 2.000
// @Increment: 0.01
// @User: Standard // @User: Standard
// @Param: _BAL_IMAX // @Param: _BAL_IMAX
@ -250,18 +264,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _BAL_FLTT // @Param: _BAL_FLTT
// @DisplayName: Pitch control Target filter frequency in Hz // @DisplayName: Pitch control Target filter frequency in Hz
// @Description: Target filter frequency in Hz // @Description: Target filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _BAL_FLTE // @Param: _BAL_FLTE
// @DisplayName: Pitch control Error filter frequency in Hz // @DisplayName: Pitch control Error filter frequency in Hz
// @Description: Error filter frequency in Hz // @Description: Error filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _BAL_FLTD // @Param: _BAL_FLTD
// @DisplayName: Pitch control Derivative term filter frequency in Hz // @DisplayName: Pitch control Derivative term filter frequency in Hz
// @Description: Derivative filter frequency in Hz // @Description: Derivative filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
@ -285,6 +305,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @DisplayName: Sail Heel control I gain // @DisplayName: Sail Heel control I gain
// @Description: Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual // @Description: Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual
// @Range: 0.000 2.000 // @Range: 0.000 2.000
// @Increment: 0.01
// @User: Standard // @User: Standard
// @Param: _SAIL_IMAX // @Param: _SAIL_IMAX
@ -319,18 +340,24 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _SAIL_FLTT // @Param: _SAIL_FLTT
// @DisplayName: Sail Heel Target filter frequency in Hz // @DisplayName: Sail Heel Target filter frequency in Hz
// @Description: Target filter frequency in Hz // @Description: Target filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _SAIL_FLTE // @Param: _SAIL_FLTE
// @DisplayName: Sail Heel Error filter frequency in Hz // @DisplayName: Sail Heel Error filter frequency in Hz
// @Description: Error filter frequency in Hz // @Description: Error filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
// @Param: _SAIL_FLTD // @Param: _SAIL_FLTD
// @DisplayName: Sail Heel Derivative term filter frequency in Hz // @DisplayName: Sail Heel Derivative term filter frequency in Hz
// @Description: Derivative filter frequency in Hz // @Description: Derivative filter frequency in Hz
// @Range: 0.000 100.000
// @Increment: 0.1
// @Units: Hz // @Units: Hz
// @User: Standard // @User: Standard
AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID), AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),