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AP_WheelEncoder: added SMAX param docs

This commit is contained in:
Andrew Tridgell 2020-09-24 19:05:21 +10:00
parent 999c7e0dc4
commit acdc939946
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_WheelEncoder/AP_WheelRateControl.cpp
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@ -78,6 +78,14 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @Increment: 1
// @Units: Hz
// @User: Standard
// @Param: _RATE_SMAX
// @DisplayName: Wheel rate 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(_rate_pid0, "_RATE_", 3, AP_WheelRateControl, AC_PID),
// @Param: 2_RATE_FF
@ -141,6 +149,13 @@ const AP_Param::GroupInfo AP_WheelRateControl::var_info[] = {
// @Units: Hz
// @User: Standard
// @Param: 2_RATE_SMAX
// @DisplayName: Wheel rate 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(_rate_pid1, "2_RATE_", 4, AP_WheelRateControl, AC_PID),
AP_GROUPEND