Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM_Control: raise default P and I gains, and set a lower limit on I for pitch

Browse Source 
Too many users have very low I gains, which causes a lot of problems for TECS
This commit is contained in:
Andrew Tridgell 2016-03-25 09:49:12 +11:00
parent 0883fb72ac
commit ab07781c66
2 changed files with 19 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/APM_Control/AP_PitchController.cpp
View File

@ -39,7 +39,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
// @Range: 0.1 3.0 // @Range: 0.1 3.0
// @Increment: 0.1 // @Increment: 0.1
// @User: User // @User: User
AP_GROUPINFO("P", 1, AP_PitchController, gains.P, 0.4f), AP_GROUPINFO("P", 1, AP_PitchController, gains.P, 0.6f),
// @Param: D // @Param: D
// @DisplayName: Damping Gain // @DisplayName: Damping Gain
@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
// @Range: 0 0.5 // @Range: 0 0.5
// @Increment: 0.05 // @Increment: 0.05
// @User: User // @User: User
AP_GROUPINFO("I", 3, AP_PitchController, gains.I, 0.04f), AP_GROUPINFO("I", 3, AP_PitchController, gains.I, 0.15f),
// @Param: RMAX_UP // @Param: RMAX_UP
// @DisplayName: Pitch up max rate // @DisplayName: Pitch up max rate
@ -136,7 +136,21 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
// This means elevator trim offset doesn't change as the value of scaler changes with airspeed // This means elevator trim offset doesn't change as the value of scaler changes with airspeed
// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs // Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
if (!disable_integrator && gains.I > 0) { if (!disable_integrator && gains.I > 0) {
float ki_rate = gains.I * gains.tau; float k_I = gains.I;
if (is_zero(gains.FF)) {
/*
if the user hasn't set a direct FF then assume they are
not doing sophisticated tuning. Set a minimum I value of
0.15 to ensure that the time constant for trimming in
pitch is not too long. We have had a lot of user issues
with very small I value leading to very slow pitch
trimming, which causes a lot of problems for TECS. A
value of 0.15 is still quite small, but a lot better
than what many users are running.
*/
k_I = MAX(k_I, 0.15f);
}
float ki_rate = k_I * gains.tau;
//only integrate if gain and time step are positive and airspeed above min value. //only integrate if gain and time step are positive and airspeed above min value.
if (dt > 0 && aspeed > 0.5f*float(aparm.airspeed_min)) { if (dt > 0 && aspeed > 0.5f*float(aparm.airspeed_min)) {
float integrator_delta = rate_error * ki_rate * delta_time * scaler; float integrator_delta = rate_error * ki_rate * delta_time * scaler;

4
libraries/APM_Control/AP_RollController.cpp
View File

@ -39,7 +39,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
// @Range: 0.1 4.0 // @Range: 0.1 4.0
// @Increment: 0.1 // @Increment: 0.1
// @User: User // @User: User
AP_GROUPINFO("P", 1, AP_RollController, gains.P, 0.4f), AP_GROUPINFO("P", 1, AP_RollController, gains.P, 0.6f),
// @Param: D // @Param: D
// @DisplayName: Damping Gain // @DisplayName: Damping Gain
@ -55,7 +55,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
// @Range: 0 1.0 // @Range: 0 1.0
// @Increment: 0.05 // @Increment: 0.05
// @User: User // @User: User
AP_GROUPINFO("I", 3, AP_RollController, gains.I, 0.04f), AP_GROUPINFO("I", 3, AP_RollController, gains.I, 0.1f),
// @Param: RMAX // @Param: RMAX
// @DisplayName: Maximum Roll Rate // @DisplayName: Maximum Roll Rate