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Blimp: update for new AC_PID settings 

D_FF logging docs
This commit is contained in:
Andy Piper 2023-10-01 18:21:01 +01:00 committed by Andrew Tridgell
parent 4c1c01f571
commit 97a4eed232
2 changed files with 8 additions and 29 deletions
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1
Blimp/Log.cpp
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@ -280,6 +280,7 @@ const struct LogStructure Blimp::log_structure[] = {
// @Field: I: integral part of PID // @Field: I: integral part of PID
// @Field: D: derivative part of PID // @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response // @Field: FF: controller feed-forward portion of response
// @Field: DFF: controller derivative feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling // @Field: Dmod: scaler applied to D gain to reduce limit cycling
// @Field: SRate: slew rate // @Field: SRate: slew rate
// @Field: Flags: bitmask of PID state flags // @Field: Flags: bitmask of PID state flags

36
Blimp/Parameters.cpp
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@ -730,45 +730,23 @@ const AP_Param::Info Blimp::var_info[] = {
// @Units: d% // @Units: d%
// @User: Advanced // @User: Advanced
// @Param: POSYAW_ADV
// @DisplayName: Advanced Yaw parameters enable
// @Description: Advanced Yaw parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: POSYAW_D_FF // @Param: POSYAW_D_FF
// @DisplayName: Position (yaw) Derivative FeedForward Gain // @DisplayName: Position (yaw) Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target // @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.1 // @Range: 0 0.1
// @Increment: 0.001 // @Increment: 0.001
// @User: Advanced // @User: Advanced
// @Param: POSYAW_NTF // @Param: POSYAW_NTF
// @DisplayName: Position (yaw) Target notch Filter center frequency // @DisplayName: Position (yaw) Target notch filter index
// @Description: Position (yaw) Target notch Filter center frequency in Hz. // @Description: Position (yaw) Target notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced // @User: Advanced
// @Param: POSYAW_NEF // @Param: POSYAW_NEF
// @DisplayName: Position (yaw) Error notch Filter center frequency // @DisplayName: Position (yaw) Error notch filter index
// @Description: Position (yaw) Error notch Filter center frequency in Hz. // @Description: Position (yaw) Error notch filter index
// @Range: 10 495 // @Range: 1 8
// @Units: Hz
// @User: Advanced
// @Param: POSYAW_NBW
// @DisplayName: Position (yaw) notch Filter bandwidth
// @Description: Position (yaw) notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: POSYAW_NATT
// @DisplayName: Position (yaw) notch Filter attenuation
// @Description: Position (yaw) notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced // @User: Advanced
GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID), GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID),