Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 23:43:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_TECS: added TECS_LAND_TCONST

Browse Source 
this allows control of the time constant for landing in TECS. A lower
time constant gives tighter altitude control on landing approach
This commit is contained in:
Andrew Tridgell 2014-08-27 14:28:39 +10:00
parent a6ee46086c
commit 68dd61c7c7
2 changed files with 27 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_TECS/AP_TECS.cpp
View File

@ -157,6 +157,14 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LAND_SINK", 17, AP_TECS, _land_sink, 0.25f), AP_GROUPINFO("LAND_SINK", 17, AP_TECS, _land_sink, 0.25f),
// @Param: TECS_LAND_TCONST
// @DisplayName: Land controller time constant (sec)
// @Description: This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare
// @Range: 1.0-5.0
// @Increment: 0.2
// @User: Advanced
AP_GROUPINFO("LAND_TCONST", 18, AP_TECS, _landTimeConst, 2.0f),
AP_GROUPEND AP_GROUPEND
}; };
@ -404,6 +412,18 @@ void AP_TECS::_update_energies(void)
} }
/*
current time constant. It is lower in landing to try to give a precise approach
*/
float AP_TECS::timeConstant(void)
{
if (_flight_stage==FLIGHT_LAND_FINAL ||
_flight_stage==FLIGHT_LAND_APPROACH) {
return _landTimeConst;
}
return _timeConst;
}
void AP_TECS::_update_throttle(void) void AP_TECS::_update_throttle(void)
{ {
// Calculate limits to be applied to potential energy error to prevent over or underspeed occurring due to large height errors // Calculate limits to be applied to potential energy error to prevent over or underspeed occurring due to large height errors
@ -429,7 +449,7 @@ void AP_TECS::_update_throttle(void)
else else
{ {
// Calculate gain scaler from specific energy error to throttle // Calculate gain scaler from specific energy error to throttle
float K_STE2Thr = 1 / (_timeConst * (_STEdot_max - _STEdot_min)); float K_STE2Thr = 1 / (timeConstant() * (_STEdot_max - _STEdot_min));
// Calculate feed-forward throttle // Calculate feed-forward throttle
float ff_throttle = 0; float ff_throttle = 0;
@ -595,8 +615,8 @@ void AP_TECS::_update_pitch(void)
// During climbout/takeoff, bias the demanded pitch angle so that zero speed error produces a pitch angle // During climbout/takeoff, bias the demanded pitch angle so that zero speed error produces a pitch angle
// demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the // demand equal to the minimum value (which is )set by the mission plan during this mode). Otherwise the
// integrator has to catch up before the nose can be raised to reduce speed during climbout. // integrator has to catch up before the nose can be raised to reduce speed during climbout.
float gainInv = (_integ5_state * _timeConst * GRAVITY_MSS); float gainInv = (_integ5_state * timeConstant() * GRAVITY_MSS);
float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * _timeConst; float temp = SEB_error + SEBdot_error * _ptchDamp + SEBdot_dem * timeConstant();
if (_flight_stage == AP_TECS::FLIGHT_TAKEOFF) if (_flight_stage == AP_TECS::FLIGHT_TAKEOFF)
{ {
temp += _PITCHminf * gainInv; temp += _PITCHminf * gainInv;

4
libraries/AP_TECS/AP_TECS.h
View File

@ -114,6 +114,7 @@ private:
AP_Float _minSinkRate; AP_Float _minSinkRate;
AP_Float _maxSinkRate; AP_Float _maxSinkRate;
AP_Float _timeConst; AP_Float _timeConst;
AP_Float _landTimeConst;
AP_Float _ptchDamp; AP_Float _ptchDamp;
AP_Float _thrDamp; AP_Float _thrDamp;
AP_Float _integGain; AP_Float _integGain;
@ -274,6 +275,9 @@ private:
// declares a 5point average filter using floats // declares a 5point average filter using floats
AverageFilterFloat_Size5 _vdot_filter; AverageFilterFloat_Size5 _vdot_filter;
// current time constant
float timeConstant(void);
}; };
#define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \ #define TECS_LOG_FORMAT(msg) { msg, sizeof(AP_TECS::log_TECS_Tuning), \