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Copter: rename loiter_pos to pos_xy 

Also renamed throttle_rate to vel_z, throttle_accel to accel_z
This commit is contained in:
Leonard Hall 2015-01-31 15:49:17 +09:00 committed by Randy Mackay
parent e232867661
commit c78480e14f
7 changed files with 55 additions and 74 deletions
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4
ArduCopter/ArduCopter.pde
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@ -623,8 +623,8 @@ AC_AttitudeControl attitude_control(ahrs, aparm, motors, g.p_stabilize_roll, g.p
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#endif
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_throttle_rate, g.pid_throttle_accel,
g.p_loiter_pos, g.pi_vel_xy);
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy);
static AC_WPNav wp_nav(inertial_nav, ahrs, pos_control, attitude_control);
static AC_Circle circle_nav(inertial_nav, ahrs, pos_control);

2
ArduCopter/Attitude.pde
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@ -272,5 +272,5 @@ static float get_throttle_surface_tracking(int16_t target_rate, float current_al
static void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
{
// shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_throttle_accel.set_integrator(pilot_throttle-g.throttle_cruise);
g.pid_accel_z.set_integrator(pilot_throttle-g.throttle_cruise);
}

18
ArduCopter/Parameters.h
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@ -299,19 +299,19 @@ public:
k_param_p_stabilize_roll,
k_param_p_stabilize_pitch,
k_param_p_stabilize_yaw,
k_param_p_loiter_pos,
k_param_p_pos_xy,
k_param_p_loiter_lon, // remove
k_param_pid_loiter_rate_lat, // remove
k_param_pid_loiter_rate_lon, // remove
k_param_pid_nav_lat, // 233 - remove
k_param_pid_nav_lon, // 234 - remove
k_param_p_alt_hold,
k_param_p_throttle_rate,
k_param_p_vel_z,
k_param_pid_optflow_roll, // 237 - remove
k_param_pid_optflow_pitch, // 238 - remove
k_param_acro_balance_roll_old, // 239 - remove
k_param_acro_balance_pitch_old, // 240 - remove
k_param_pid_throttle_accel,
k_param_pid_accel_z,
k_param_acro_balance_roll,
k_param_acro_balance_pitch,
k_param_acro_yaw_p, // 244
@ -455,10 +455,10 @@ public:
#endif
AC_PI_2D pi_vel_xy;
AC_P p_throttle_rate;
AC_PID pid_throttle_accel;
AC_P p_vel_z;
AC_PID pid_accel_z;
AC_P p_loiter_pos;
AC_P p_pos_xy;
AC_P p_stabilize_roll;
AC_P p_stabilize_pitch;
AC_P p_stabilize_yaw;
@ -517,12 +517,12 @@ public:
pi_vel_xy (VEL_XY_P, VEL_XY_I, VEL_XY_IMAX, VEL_XY_FILT_HZ, WPNAV_LOITER_UPDATE_TIME),
p_throttle_rate (THROTTLE_RATE_P),
pid_throttle_accel (THROTTLE_ACCEL_P,THROTTLE_ACCEL_I, THROTTLE_ACCEL_D,THROTTLE_ACCEL_IMAX, THROTTLE_ACCEL_FILT_HZ, MAIN_LOOP_SECONDS),
p_vel_z (VEL_Z_P),
pid_accel_z (ACCEL_Z_P, ACCEL_Z_I, ACCEL_Z_D, ACCEL_Z_IMAX, ACCEL_Z_FILT_HZ, MAIN_LOOP_SECONDS),
// P controller initial P
//----------------------------------------------------------------------
p_loiter_pos (LOITER_POS_P),
p_pos_xy (POS_XY_P),
p_stabilize_roll (STABILIZE_ROLL_P),
p_stabilize_pitch (STABILIZE_PITCH_P),

51
ArduCopter/Parameters.pde
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@ -703,57 +703,38 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GGROUP(pi_vel_xy, "VEL_XY_", AC_PI_2D),
// @Param: THR_RATE_P
// @DisplayName: Throttle rate controller P gain
// @Description: Throttle rate controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
// @Param: VEL_Z_P
// @DisplayName: Velocity (vertical) P gain
// @Description: Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
// @Range: 1.000 8.000
// @User: Standard
GGROUP(p_vel_z, "VEL_Z_", AC_P),
// @Param: THR_RATE_I
// @DisplayName: Throttle rate controller I gain
// @Description: Throttle rate controller I gain. Corrects long-term difference in desired vertical speed and actual speed
// @Range: 0.000 0.100
// @User: Standard
// @Param: THR_RATE_IMAX
// @DisplayName: Throttle rate controller I gain maximum
// @Description: Throttle rate controller I gain maximum. Constrains the desired acceleration that the I gain will generate
// @Range: 0 500
// @Units: cm/s/s
// @User: Standard
// @Param: THR_RATE_D
// @DisplayName: Throttle rate controller D gain
// @Description: Throttle rate controller D gain. Compensates for short-term change in desired vertical speed vs actual speed
// @Range: 0.000 0.400
// @User: Standard
GGROUP(p_throttle_rate, "THR_RATE_", AC_P),
// @Param: THR_ACCEL_P
// @Param: ACCEL_Z_P
// @DisplayName: Throttle acceleration controller P gain
// @Description: Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
// @Range: 0.500 1.500
// @User: Standard
// @Param: THR_ACCEL_I
// @Param: ACCEL_Z_I
// @DisplayName: Throttle acceleration controller I gain
// @Description: Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
// @Range: 0.000 3.000
// @User: Standard
// @Param: THR_ACCEL_IMAX
// @Param: ACCEL_Z_IMAX
// @DisplayName: Throttle acceleration controller I gain maximum
// @Description: Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate
// @Range: 0 1000
// @Units: Percent*10
// @User: Standard
// @Param: THR_ACCEL_D
// @Param: ACCEL_Z_D
// @DisplayName: Throttle acceleration controller D gain
// @Description: Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
// @Range: 0.000 0.400
// @User: Standard
GGROUP(pid_throttle_accel,"THR_ACCEL_", AC_PID),
GGROUP(pid_accel_z, "ACCEL_Z_", AC_PID),
// P controllers
//--------------
@ -778,19 +759,19 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GGROUP(p_stabilize_yaw, "STB_YAW_", AC_P),
// @Param: THR_ALT_P
// @DisplayName: Altitude controller P gain
// @Description: Altitude 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
// @Param: POS_Z_P
// @DisplayName: Position (vertical) controller P gain
// @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
// @Range: 1.000 3.000
// @User: Standard
GGROUP(p_alt_hold, "THR_ALT_", AC_P),
GGROUP(p_alt_hold, "POS_Z_", AC_P),
// @Param: HLD_LAT_P
// @DisplayName: Loiter position controller P gain
// @Param: POS_XY_P
// @DisplayName: Position (horizonal) controller P gain
// @Description: Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
// @Range: 0.500 2.000
// @User: Standard
GGROUP(p_loiter_pos, "HLD_LAT_", AC_P),
GGROUP(p_pos_xy, "POS_XY_", AC_P),
// variables not in the g class which contain EEPROM saved variables

32
ArduCopter/config.h
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@ -636,8 +636,8 @@
//////////////////////////////////////////////////////////////////////////////
// Loiter position control gains
//
#ifndef LOITER_POS_P
# define LOITER_POS_P 1.0f
#ifndef POS_XY_P
# define POS_XY_P 1.0f
#endif
//////////////////////////////////////////////////////////////////////////////
@ -695,26 +695,26 @@
# define ALT_HOLD_P 1.0f
#endif
// RATE control
#ifndef THROTTLE_RATE_P
# define THROTTLE_RATE_P 5.0f
// Velocity (vertical) control gains
#ifndef VEL_Z_P
# define VEL_Z_P 5.0f
#endif
// Throttle Accel control
#ifndef THROTTLE_ACCEL_P
# define THROTTLE_ACCEL_P 0.50f
// Accel (vertical) control gains
#ifndef ACCEL_Z_P
# define ACCEL_Z_P 0.50f
#endif
#ifndef THROTTLE_ACCEL_I
# define THROTTLE_ACCEL_I 1.00f
#ifndef ACCEL_Z_I
# define ACCEL_Z_I 1.00f
#endif
#ifndef THROTTLE_ACCEL_D
# define THROTTLE_ACCEL_D 0.0f
#ifndef ACCEL_Z_D
# define ACCEL_Z_D 0.0f
#endif
#ifndef THROTTLE_ACCEL_IMAX
# define THROTTLE_ACCEL_IMAX 800
#ifndef ACCEL_Z_IMAX
# define ACCEL_Z_IMAX 800
#endif
#ifndef THROTTLE_ACCEL_FILT_HZ
# define THROTTLE_ACCEL_FILT_HZ 20.0f
#ifndef ACCEL_Z_FILT_HZ
# define ACCEL_Z_FILT_HZ 20.0f
#endif
// default maximum vertical velocity and acceleration the pilot may request

6
ArduCopter/defines.h
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@ -118,9 +118,9 @@
#define CH6_YAW_RATE_KD 26 // body frame yaw rate controller's D term
#define CH6_ALTITUDE_HOLD_KP 14 // altitude hold controller's P term (alt error to desired rate)
#define CH6_THROTTLE_RATE_KP 7 // throttle rate controller's P term (desired rate to acceleration or motor output)
#define CH6_THROTTLE_ACCEL_KP 34 // accel based throttle controller's P term
#define CH6_THROTTLE_ACCEL_KI 35 // accel based throttle controller's I term
#define CH6_THROTTLE_ACCEL_KD 36 // accel based throttle controller's D term
#define CH6_ACCEL_Z_KP 34 // accel based throttle controller's P term
#define CH6_ACCEL_Z_KI 35 // accel based throttle controller's I term
#define CH6_ACCEL_Z_KD 36 // accel based throttle controller's D term
#define CH6_LOITER_POSITION_KP 12 // loiter distance controller's P term (position error to speed)
#define CH6_VEL_XY_KP 22 // loiter rate controller's P term (speed error to tilt angle)
#define CH6_VEL_XY_KI 28 // loiter rate controller's I term (speed error to tilt angle)

16
ArduCopter/tuning.pde
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@ -59,24 +59,24 @@ static void tuning() {
break;
case CH6_THROTTLE_RATE_KP:
g.p_throttle_rate.kP(tuning_value);
g.p_vel_z.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KP:
g.pid_throttle_accel.kP(tuning_value);
case CH6_ACCEL_Z_KP:
g.pid_accel_z.kP(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KI:
g.pid_throttle_accel.kI(tuning_value);
case CH6_ACCEL_Z_KI:
g.pid_accel_z.kI(tuning_value);
break;
case CH6_THROTTLE_ACCEL_KD:
g.pid_throttle_accel.kD(tuning_value);
case CH6_ACCEL_Z_KD:
g.pid_accel_z.kD(tuning_value);
break;
// Loiter and navigation tuning
case CH6_LOITER_POSITION_KP:
g.p_loiter_pos.kP(tuning_value);
g.p_pos_xy.kP(tuning_value);
break;
case CH6_VEL_XY_KP: