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Copter: precision landing velocity PI object

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Follow up changes required to actually use this PI during landing
This commit is contained in:
Randy Mackay 2015-08-28 17:16:46 +09:00
parent f4b152f0e3
commit 7db77482f5
2 changed files with 31 additions and 0 deletions
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22
ArduCopter/Parameters.cpp
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@ -851,6 +851,28 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Standard
GGROUP(p_pos_xy, "POS_XY_", AC_P),
#if PRECISION_LANDING == ENABLED
// @Param: PRECLNDVEL_P
// @DisplayName: Precision landing velocity controller P gain
// @Description: Precision landing velocity controller P gain
// @Range: 0.100 5.000
// @User: Advanced
// @Param: PRECLNDVEL_I
// @DisplayName: Precision landing velocity controller I gain
// @Description: Precision landing velocity controller I gain
// @Range: 0.100 5.000
// @User: Advanced
// @Param: PRECLNDVEL_IMAX
// @DisplayName: Precision landing velocity controller I gain maximum
// @Description: Precision landing velocity controller I gain maximum
// @Range: 0 1000
// @Units: cm/s
// @User: Standard
GGROUP(pi_precland, "PLAND_", AC_PI_2D),
#endif
// variables not in the g class which contain EEPROM saved variables
#if CAMERA == ENABLED

9
ArduCopter/Parameters.h
View File

@ -348,6 +348,7 @@ public:
k_param_rtl_climb_min,
k_param_rpm_sensor,
k_param_autotune_min_d, // 251
k_param_pi_precland, // 252
// 254,255: reserved
};
@ -500,6 +501,10 @@ public:
AC_P p_vel_z;
AC_PID pid_accel_z;
#if PRECISION_LANDING == ENABLED
AC_PI_2D pi_precland;
#endif
AC_P p_pos_xy;
AC_P p_stabilize_roll;
AC_P p_stabilize_pitch;
@ -570,6 +575,10 @@ public:
p_vel_z (VEL_Z_P),
pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS),
#if PRECISION_LANDING == ENABLED
pi_precland (PRECLAND_P, PRECLAND_I, PRECLAND_IMAX, VEL_XY_FILT_HZ, PRECLAND_UPDATE_TIME),
#endif
// P controller initial P
//----------------------------------------------------------------------
p_pos_xy (POS_XY_P),