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

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add advanced flag to PIDs and selectively compile advanced PID options
This commit is contained in:
Andy Piper 2023-08-10 12:10:17 +01:00 committed by Andrew Tridgell
parent 952baf860c
commit 370ee7d4d3
2 changed files with 91 additions and 0 deletions
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88
libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
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@ -90,6 +90,46 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @DisplayName: Wheel rate control PD sum maximum // @DisplayName: Wheel rate control PD sum maximum
// @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output // @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000 // @Range: 0.000 1.000
// @Param: _RATE_ADV
// @DisplayName: Wheel rate Advanced parameters enable
// @Description: Wheel rate Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _RATE_D_FF
// @DisplayName: Wheel rate Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the error
// @Range: 0.000 0.400
// @Increment: 0.001
// @User: Advanced
// @Param: _RATE_NTF
// @DisplayName: Wheel rate Target notch Filter center frequency
// @Description: Wheel rate Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NEF
// @DisplayName: Wheel rate Error notch Filter center frequency
// @Description: Wheel rate Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NBW
// @DisplayName: Wheel rate notch Filter bandwidth
// @Description: Wheel rate notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NATT
// @DisplayName: Wheel rate notch Filter attenuation
// @Description: Wheel rate notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced // @User: Advanced
AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID), AP_SUBGROUPINFO(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
@ -166,6 +206,46 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @DisplayName: Wheel rate control PD sum maximum // @DisplayName: Wheel rate control PD sum maximum
// @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output // @Description: Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000 // @Range: 0.000 1.000
// @Param: 2_RATE_ADV
// @DisplayName: Wheel rate Advanced parameters enable
// @Description: Wheel rate Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: 2_RATE_D_FF
// @DisplayName: Wheel rate Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.000 0.400
// @Increment: 0.001
// @User: Advanced
// @Param: 2_RATE_NTF
// @DisplayName: Wheel rate Target notch Filter center frequency
// @Description: Wheel rate Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: 2_RATE_NEF
// @DisplayName: Wheel rate Error notch Filter center frequency
// @Description: Wheel rate Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: 2_RATE_NBW
// @DisplayName: Wheel rate notch Filter bandwidth
// @Description: Wheel rate notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: 2_RATE_NATT
// @DisplayName: Wheel rate notch Filter attenuation
// @Description: Wheel rate notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced // @User: Advanced
AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID), AP_SUBGROUPINFO(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
@ -237,3 +317,11 @@ AC_PID& AP_WheelRateControl::get_pid(uint8_t instance)
return _rate_pid1; return _rate_pid1;
} }
} }
void AP_WheelRateControl::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
_rate_pid0.set_notch_sample_rate(sample_rate);
_rate_pid1.set_notch_sample_rate(sample_rate);
#endif
}

3
libraries/AP_WheelEncoder/AP_WheelRateControl.h
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@ -51,6 +51,9 @@ public:
// get pid objects for reporting // get pid objects for reporting
AC_PID& get_pid(uint8_t instance); AC_PID& get_pid(uint8_t instance);
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private: