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Blimp: add documentation for PID notches and D feed-foward 

update PID notch centers at 1Hz with average loop rate
This commit is contained in:
Andy Piper 2023-08-10 12:09:12 +01:00 committed by Andrew Tridgell
parent 25b66ef6ca
commit c4dc6f6471
2 changed files with 44 additions and 0 deletions
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2
Blimp/Blimp.cpp
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@ -209,6 +209,8 @@ void Blimp::one_hz_loop()
SRV_Channels::enable_aux_servos(); SRV_Channels::enable_aux_servos();
AP_Notify::flags.flying = !ap.land_complete; AP_Notify::flags.flying = !ap.land_complete;
blimp.pid_pos_yaw.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
} }
void Blimp::read_AHRS(void) void Blimp::read_AHRS(void)

42
Blimp/Parameters.cpp
View File

@ -729,6 +729,48 @@ const AP_Param::Info Blimp::var_info[] = {
// @Increment: 10 // @Increment: 10
// @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
// @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
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Advanced
// @Param: POSYAW_NTF
// @DisplayName: Position (yaw) Target notch Filter center frequency
// @Description: Position (yaw) Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: POSYAW_NEF
// @DisplayName: Position (yaw) Error notch Filter center frequency
// @Description: Position (yaw) Error notch Filter center frequency in Hz.
// @Range: 10 495
// @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
GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID), GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID),
// @Group: // @Group: