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APM_Control: added SMAX param docs

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This commit is contained in:
Andrew Tridgell 2020-09-24 17:26:05 +10:00
parent 0a7c628355
commit 9a244eef29
1 changed files with 32 additions and 0 deletions
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32
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -88,6 +88,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.1
// @Units: Hz
// @User: Standard
// @Param: _STR_RAT_SMAX
// @DisplayName: Steering slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
// @Param: _SPEED_P
@ -156,6 +164,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.1
// @Units: Hz
// @User: Standard
// @Param: _SPEED_SMAX
// @DisplayName: Speed control slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
// @Param: _ACCEL_MAX
@ -284,6 +300,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.1
// @Units: Hz
// @User: Standard
// @Param: _BAL_SMAX
// @DisplayName: Pitch control slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
// @Param: _BAL_SPD_FF
@ -360,6 +384,14 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Increment: 0.1
// @Units: Hz
// @User: Standard
// @Param: _SAIL_SMAX
// @DisplayName: Sail heel slew rate limit
// @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
// @Range: 0 200
// @Increment: 0.5
// @User: Advanced
AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),
AP_GROUPEND