mirror of https://github.com/ArduPilot/ardupilot
Copter: remove attitude PIDs
These are now part of AC_AttitudeControl
This commit is contained in:
Randy Mackay
parent
7f2c1f830f
commit
bde498375c
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@ -74,8 +74,7 @@ Copter::Copter(void) :
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condition_start(0),
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G_Dt(0.0025f),
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inertial_nav(ahrs),
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attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p_stabilize_pitch, g.p_stabilize_yaw,
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g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw),
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attitude_control(ahrs, aparm, motors, MAIN_LOOP_SECONDS),
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pos_control(ahrs, inertial_nav, motors, attitude_control,
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g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
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g.p_pos_xy, g.pi_vel_xy),
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@ -636,111 +636,6 @@ const AP_Param::Info Copter::var_info[] = {
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// @User: Advanced
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GSCALAR(acro_expo, "ACRO_EXPO", ACRO_EXPO_DEFAULT),
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// PID controller
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//---------------
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// @Param: RATE_RLL_P
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// @DisplayName: Roll axis rate controller P gain
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// @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
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// @Range: 0.08 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RATE_RLL_I
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// @DisplayName: Roll axis rate controller I gain
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// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
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// @Range: 0.01 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RATE_RLL_IMAX
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// @DisplayName: Roll axis rate controller I gain maximum
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// @Description: Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RATE_RLL_D
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// @DisplayName: Roll axis rate controller D gain
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// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
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// @Range: 0.001 0.02
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// @Increment: 0.001
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// @User: Standard
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#if FRAME_CONFIG == HELI_FRAME
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GGROUP(pid_rate_roll, "RATE_RLL_", AC_HELI_PID),
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#else
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GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
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#endif
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// @Param: RATE_PIT_P
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// @DisplayName: Pitch axis rate controller P gain
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// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
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// @Range: 0.08 0.30
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// @Increment: 0.005
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// @User: Standard
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// @Param: RATE_PIT_I
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// @DisplayName: Pitch axis rate controller I gain
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// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
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// @Range: 0.01 0.5
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// @Increment: 0.01
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// @User: Standard
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// @Param: RATE_PIT_IMAX
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// @DisplayName: Pitch axis rate controller I gain maximum
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// @Description: Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RATE_PIT_D
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// @DisplayName: Pitch axis rate controller D gain
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// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
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// @Range: 0.001 0.02
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// @Increment: 0.001
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// @User: Standard
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#if FRAME_CONFIG == HELI_FRAME
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GGROUP(pid_rate_pitch, "RATE_PIT_", AC_HELI_PID),
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#else
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GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
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#endif
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// @Param: RATE_YAW_P
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// @DisplayName: Yaw axis rate controller P gain
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// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
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// @Range: 0.150 0.50
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// @Increment: 0.005
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// @User: Standard
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// @Param: RATE_YAW_I
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// @DisplayName: Yaw axis rate controller I gain
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// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
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// @Range: 0.010 0.05
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// @Increment: 0.01
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// @User: Standard
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// @Param: RATE_YAW_IMAX
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// @DisplayName: Yaw axis rate controller I gain maximum
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// @Description: Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
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// @Range: 0 4500
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// @Increment: 10
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// @Units: Percent*10
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// @User: Standard
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// @Param: RATE_YAW_D
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// @DisplayName: Yaw axis rate controller D gain
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// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
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// @Range: 0.000 0.02
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// @Increment: 0.001
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// @User: Standard
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#if FRAME_CONFIG == HELI_FRAME
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GGROUP(pid_rate_yaw, "RATE_YAW_", AC_HELI_PID),
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#else
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GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
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#endif
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// @Param: VEL_XY_P
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// @DisplayName: Velocity (horizontal) P gain
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// @Description: Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration
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@ -805,29 +700,6 @@ const AP_Param::Info Copter::var_info[] = {
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// @User: Standard
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GGROUP(pid_accel_z, "ACCEL_Z_", AC_PID),
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// P controllers
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//--------------
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// @Param: STB_RLL_P
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// @DisplayName: Roll axis stabilize controller P gain
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// @Description: Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
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// @Range: 3.000 12.000
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// @User: Standard
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GGROUP(p_stabilize_roll, "STB_RLL_", AC_P),
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// @Param: STB_PIT_P
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// @DisplayName: Pitch axis stabilize controller P gain
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// @Description: Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
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// @Range: 3.000 12.000
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// @User: Standard
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GGROUP(p_stabilize_pitch, "STB_PIT_", AC_P),
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// @Param: STB_YAW_P
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// @DisplayName: Yaw axis stabilize controller P gain
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// @Description: Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
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// @Range: 3.000 6.000
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// @User: Standard
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GGROUP(p_stabilize_yaw, "STB_YAW_", AC_P),
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// @Param: POS_Z_P
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// @DisplayName: Position (vertical) controller P gain
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// @Description: Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
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@ -328,12 +328,12 @@ public:
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//
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k_param_acro_rp_p = 221,
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k_param_axis_lock_p, // remove
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k_param_pid_rate_roll,
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k_param_pid_rate_pitch,
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k_param_pid_rate_yaw,
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k_param_p_stabilize_roll,
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k_param_p_stabilize_pitch,
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k_param_p_stabilize_yaw,
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k_param_pid_rate_roll, // remove
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k_param_pid_rate_pitch, // remove
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k_param_pid_rate_yaw, // remove
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k_param_p_stabilize_roll, // remove
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k_param_p_stabilize_pitch, // remove
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k_param_p_stabilize_yaw, // remove
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k_param_p_pos_xy,
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k_param_p_loiter_lon, // remove
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k_param_pid_loiter_rate_lat, // remove
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@ -480,24 +480,12 @@ public:
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AP_Float acro_expo;
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// PI/D controllers
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#if FRAME_CONFIG == HELI_FRAME
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AC_HELI_PID pid_rate_roll;
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AC_HELI_PID pid_rate_pitch;
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AC_HELI_PID pid_rate_yaw;
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#else
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AC_PID pid_rate_roll;
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AC_PID pid_rate_pitch;
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AC_PID pid_rate_yaw;
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#endif
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AC_PI_2D pi_vel_xy;
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AC_P p_vel_z;
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AC_PID pid_accel_z;
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AC_P p_pos_xy;
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AC_P p_stabilize_roll;
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AC_P p_stabilize_pitch;
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AC_P p_stabilize_yaw;
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AC_P p_alt_hold;
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// Autotune
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@ -526,16 +514,6 @@ public:
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// PID controller initial P initial I initial D initial imax initial filt hz pid rate
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//---------------------------------------------------------------------------------------------------------------------------------
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#if FRAME_CONFIG == HELI_FRAME
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS, RATE_ROLL_FF),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS, RATE_PITCH_FF),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS, RATE_YAW_FF),
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#else
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX, RATE_ROLL_FILT_HZ, MAIN_LOOP_SECONDS),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX, RATE_PITCH_FILT_HZ, MAIN_LOOP_SECONDS),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX, RATE_YAW_FILT_HZ, MAIN_LOOP_SECONDS),
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#endif
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pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),
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p_vel_z (VEL_Z_P),
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@ -545,10 +523,6 @@ public:
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//----------------------------------------------------------------------
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p_pos_xy (POS_XY_P),
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p_stabilize_roll (STABILIZE_ROLL_P),
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p_stabilize_pitch (STABILIZE_PITCH_P),
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p_stabilize_yaw (STABILIZE_YAW_P),
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p_alt_hold (ALT_HOLD_P)
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{
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}
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@ -93,24 +93,6 @@
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#if FRAME_CONFIG == HELI_FRAME
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# define RC_FAST_SPEED 125
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# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
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# define RATE_ROLL_P 0.02
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# define RATE_ROLL_I 0.5
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# define RATE_ROLL_D 0.001
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# define RATE_ROLL_IMAX 4500
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# define RATE_ROLL_FF 0.05
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# define RATE_ROLL_FILT_HZ 20.0f
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# define RATE_PITCH_P 0.02
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# define RATE_PITCH_I 0.5
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# define RATE_PITCH_D 0.001
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# define RATE_PITCH_IMAX 4500
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# define RATE_PITCH_FF 0.05
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# define RATE_PITCH_FILT_HZ 20.0f
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# define RATE_YAW_P 0.15
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# define RATE_YAW_I 0.100
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# define RATE_YAW_D 0.003
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# define RATE_YAW_IMAX 4500
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# define RATE_YAW_FF 0.02
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# define RATE_YAW_FILT_HZ 20.0f
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# define THR_MIN_DEFAULT 0
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# define AUTOTUNE_ENABLED DISABLED
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#endif
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@ -461,19 +443,6 @@
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#define ACRO_EXPO_DEFAULT 0.3f
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#endif
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// Stabilize (angle controller) gains
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#ifndef STABILIZE_ROLL_P
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# define STABILIZE_ROLL_P 4.5f
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#endif
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#ifndef STABILIZE_PITCH_P
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# define STABILIZE_PITCH_P 4.5f
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#endif
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#ifndef STABILIZE_YAW_P
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# define STABILIZE_YAW_P 4.5f
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#endif
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// RTL Mode
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#ifndef RTL_ALT_FINAL
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# define RTL_ALT_FINAL 0 // the altitude the vehicle will move to as the final stage of Returning to Launch. Set to zero to land.
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@ -538,59 +507,6 @@
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# define ANGLE_RATE_MAX 18000 // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Rate controller gains
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//
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#ifndef RATE_ROLL_P
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# define RATE_ROLL_P 0.150f
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#endif
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#ifndef RATE_ROLL_I
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# define RATE_ROLL_I 0.100f
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#endif
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#ifndef RATE_ROLL_D
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# define RATE_ROLL_D 0.004f
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#endif
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#ifndef RATE_ROLL_IMAX
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# define RATE_ROLL_IMAX 2000
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#endif
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#ifndef RATE_ROLL_FILT_HZ
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# define RATE_ROLL_FILT_HZ 20.0f
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#endif
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#ifndef RATE_PITCH_P
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# define RATE_PITCH_P 0.150f
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#endif
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#ifndef RATE_PITCH_I
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# define RATE_PITCH_I 0.100f
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#endif
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#ifndef RATE_PITCH_D
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# define RATE_PITCH_D 0.004f
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#endif
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#ifndef RATE_PITCH_IMAX
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# define RATE_PITCH_IMAX 2000
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#endif
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#ifndef RATE_PITCH_FILT_HZ
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# define RATE_PITCH_FILT_HZ 20.0f
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#endif
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#ifndef RATE_YAW_P
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# define RATE_YAW_P 0.200f
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#endif
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#ifndef RATE_YAW_I
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# define RATE_YAW_I 0.020f
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#endif
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#ifndef RATE_YAW_D
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# define RATE_YAW_D 0.000f
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#endif
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#ifndef RATE_YAW_IMAX
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# define RATE_YAW_IMAX 1000
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#endif
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#ifndef RATE_YAW_FILT_HZ
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# define RATE_YAW_FILT_HZ 5.0f
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Loiter position control gains
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//
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