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AC_AttitudeControl: use AC_PID defaults to tidy heli rate PID initialisation

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makes it look like the Copter initialisation - ie. legible
This commit is contained in:
Peter Barker 2024-09-20 17:17:02 +10:00 committed by Andrew Tridgell
parent 6a74a97bf7
commit 4663382b01
2 changed files with 34 additions and 7 deletions
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5
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -307,10 +307,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
}; };
AC_AttitudeControl_Heli::AC_AttitudeControl_Heli(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsHeli& motors) : AC_AttitudeControl_Heli::AC_AttitudeControl_Heli(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsHeli& motors) :
AC_AttitudeControl(ahrs, aparm, motors), AC_AttitudeControl(ahrs, aparm, motors)
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);

36
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -150,8 +150,38 @@ private:
// parameters // parameters
AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode AP_Int8 _piro_comp_enabled; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _hover_roll_trim; // Angle in centi-degrees used to counter tail rotor thrust in hover AP_Int16 _hover_roll_trim; // Angle in centi-degrees used to counter tail rotor thrust in hover
AC_HELI_PID _pid_rate_roll;
AC_HELI_PID _pid_rate_pitch; // Roll and Pitch rate PIDs share the same defaults:
AC_HELI_PID _pid_rate_yaw; const AC_PID::Defaults rp_defaults {
AC_PID::Defaults{
.p = AC_ATC_HELI_RATE_RP_P,
.i = AC_ATC_HELI_RATE_RP_I,
.d = AC_ATC_HELI_RATE_RP_D,
.ff = AC_ATC_HELI_RATE_RP_FF,
.imax = AC_ATC_HELI_RATE_RP_IMAX,
.filt_T_hz = AC_ATTITUDE_HELI_RATE_RP_FF_FILTER,
.filt_E_hz = AC_ATC_HELI_RATE_RP_FILT_HZ,
.filt_D_hz = 0.0,
.srmax = 0,
.srtau = 1.0
}
};
AC_HELI_PID _pid_rate_roll { rp_defaults };
AC_HELI_PID _pid_rate_pitch { rp_defaults };
AC_HELI_PID _pid_rate_yaw {
AC_PID::Defaults{
.p = AC_ATC_HELI_RATE_YAW_P,
.i = AC_ATC_HELI_RATE_YAW_I,
.d = AC_ATC_HELI_RATE_YAW_D,
.ff = AC_ATC_HELI_RATE_YAW_FF,
.imax = AC_ATC_HELI_RATE_YAW_IMAX,
.filt_T_hz = AC_ATTITUDE_HELI_RATE_Y_FF_FILTER,
.filt_E_hz = AC_ATC_HELI_RATE_YAW_FILT_HZ,
.filt_D_hz = 0.0,
.srmax = 0,
.srtau = 1.0
}
};
}; };