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ArduCopter: updated parameters for roll, pitch and yaw rate controllers.

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Also added reference to AP_Motors_Class.cpp so that parameter descriptions can be seen in mission planner.
This commit is contained in:
rmackay9 2013-01-02 17:05:57 +09:00
parent cf409abc63
commit c595a1e9a2
1 changed files with 57 additions and 3 deletions
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60
ArduCopter/Parameters.pde
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@ -534,10 +534,62 @@ const AP_Param::Info var_info[] PROGMEM = {
// PID controller // PID controller
//--------------- //---------------
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID), // @Param: RATE_RLL_P
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID), // @DisplayName: Roll axis rate controller P gain
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID), // @Description: Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
// @Range 0.08 0.20
// @User: Standard
// @Param: RATE_RLL_I
// @DisplayName: Roll axis rate controller I gain
// @Description: Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
// @Range 0.01 0.5
// @User: Standard
// @Param: RATE_RLL_D
// @DisplayName: Roll axis rate controller D gain
// @Description: Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
// @Range 0.001 0.008
// @User: Standard
GGROUP(pid_rate_roll, "RATE_RLL_", AC_PID),
// @Param: RATE_PIT_P
// @DisplayName: Pitch axis rate controller P gain
// @Description: Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
// @Range 0.08 0.20
// @User: Standard
// @Param: RATE_PIT_I
// @DisplayName: Pitch axis rate controller I gain
// @Description: Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
// @Range 0.01 0.5
// @User: Standard
// @Param: RATE_PIT_D
// @DisplayName: Pitch axis rate controller D gain
// @Description: Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
// @Range 0.001 0.008
// @User: Standard
GGROUP(pid_rate_pitch, "RATE_PIT_", AC_PID),
// @Param: RATE_YAW_P
// @DisplayName: Yaw axis rate controller P gain
// @Description: Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
// @Range 0.150 0.250
// @User: Standard
// @Param: RATE_YAW_I
// @DisplayName: Yaw axis rate controller I gain
// @Description: Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
// @Range 0.010 0.020
// @User: Standard
// @Param: RATE_YAW_D
// @DisplayName: Yaw axis rate controller D gain
// @Description: Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
// @Range 0.000 0.001
// @User: Standard
GGROUP(pid_rate_yaw, "RATE_YAW_", AC_PID),
GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID), GGROUP(pid_loiter_rate_lat, "LOITER_LAT_", AC_PID),
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID), GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
@ -625,6 +677,8 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECT(motors, "H_", AP_MotorsHeli), GOBJECT(motors, "H_", AP_MotorsHeli),
#else #else
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors_Class.cpp
GOBJECT(motors, "MOT_", AP_Motors), GOBJECT(motors, "MOT_", AP_Motors),
#endif #endif