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APM: added a SCALING_SPEED parameter 

this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
This commit is contained in:
Andrew Tridgell 2012-07-26 11:30:23 +10:00
parent caa16cbb54
commit 6243cf77a8
4 changed files with 16 additions and 6 deletions
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4
ArduPlane/Attitude.pde
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@ -14,7 +14,7 @@ static void stabilize()
if (airspeed.use()) { if (airspeed.use()) {
float aspeed = airspeed.get_airspeed(); float aspeed = airspeed.get_airspeed();
if (aspeed > 0) { if (aspeed > 0) {
speed_scaler = STANDARD_SPEED / aspeed; speed_scaler = g.scaling_speed / aspeed;
} else { } else {
speed_scaler = 2.0; speed_scaler = 2.0;
} }
@ -226,7 +226,7 @@ static void calc_nav_roll()
#else #else
// this is the old nav_roll calculation. We will use this for 2.50 // this is the old nav_roll calculation. We will use this for 2.50
// then remove for a future release // then remove for a future release
float nav_gain_scaler = (float)g_gps->ground_speed / (STANDARD_SPEED * 100.0); float nav_gain_scaler = 0.01 * g_gps->ground_speed / g.scaling_speed;
nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4); nav_gain_scaler = constrain(nav_gain_scaler, 0.2, 1.4);
nav_roll = g.pidNavRoll.get_pid(bearing_error, nav_gain_scaler); //returns desired bank angle in degrees*100 nav_roll = g.pidNavRoll.get_pid(bearing_error, nav_gain_scaler); //returns desired bank angle in degrees*100
#endif #endif

5
ArduPlane/Parameters.h
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@ -163,6 +163,7 @@ public:
k_param_kff_rudder_mix, k_param_kff_rudder_mix,
k_param_kff_pitch_to_throttle, k_param_kff_pitch_to_throttle,
k_param_kff_throttle_to_pitch, k_param_kff_throttle_to_pitch,
k_param_scaling_speed,
// //
// 210: flight modes // 210: flight modes
@ -265,6 +266,9 @@ public:
AP_Float kff_pitch_to_throttle; AP_Float kff_pitch_to_throttle;
AP_Float kff_throttle_to_pitch; AP_Float kff_throttle_to_pitch;
// speed used for speed scaling
AP_Float scaling_speed;
// Crosstrack navigation // Crosstrack navigation
// //
AP_Float crosstrack_gain; AP_Float crosstrack_gain;
@ -402,6 +406,7 @@ public:
kff_rudder_mix (RUDDER_MIX), kff_rudder_mix (RUDDER_MIX),
kff_pitch_to_throttle (P_TO_T), kff_pitch_to_throttle (P_TO_T),
kff_throttle_to_pitch (T_TO_P), kff_throttle_to_pitch (T_TO_P),
scaling_speed (SCALING_SPEED),
crosstrack_gain (XTRACK_GAIN_SCALED), crosstrack_gain (XTRACK_GAIN_SCALED),
crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE), crosstrack_entry_angle (XTRACK_ENTRY_ANGLE_CENTIDEGREE),

7
ArduPlane/Parameters.pde
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@ -392,6 +392,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @User: User // @User: User
GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM"), GSCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM"),
// @Param: SCALING_SPEED
// @DisplayName: speed used for speed scaling calculations
// @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
// @Units: m/s
// @User: Advanced
GSCALAR(scaling_speed, "SCALING_SPEED"),
// @Param: MIN_GNDSPD_CM // @Param: MIN_GNDSPD_CM
// @DisplayName: Minimum ground speed // @DisplayName: Minimum ground speed
// @Description: Minimum ground speed in cm/s when under airspeed control // @Description: Minimum ground speed in cm/s when under airspeed control

6
ArduPlane/config.h
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@ -817,11 +817,9 @@
// Developer Items // Developer Items
// //
#ifndef STANDARD_SPEED #ifndef SCALING_SPEED
# define STANDARD_SPEED 15.0 # define SCALING_SPEED 15.0
#define STANDARD_SPEED_SQUARED (STANDARD_SPEED * STANDARD_SPEED)
#endif #endif
#define STANDARD_THROTTLE_SQUARED (THROTTLE_CRUISE * THROTTLE_CRUISE)
// use this to enable servos in HIL mode // use this to enable servos in HIL mode
#ifndef HIL_SERVOS #ifndef HIL_SERVOS