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AC_AttitudeControl: update PID notch centres

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add documentation for PID notches and D feed-foward
add notches and D feedforward to heli PIDs
add advanced flag to PIDs and selectively compile advanced PID options
This commit is contained in:
Andy Piper 2023-07-27 15:59:16 +02:00 committed by Andrew Tridgell
parent 6a40843a9e
commit d6287e90f1
8 changed files with 467 additions and 14 deletions
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3
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -342,6 +342,9 @@ public:
// sanity check parameters. should be called once before take-off
virtual void parameter_sanity_check() {}
// set the PID notch sample rates
virtual void set_notch_sample_rate(float sample_rate) {}
// return true if the rpy mix is at lowest value
virtual bool is_throttle_mix_min() const { return true; }

150
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -1,5 +1,6 @@
#include "AC_AttitudeControl_Heli.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Scheduler/AP_Scheduler.h>
// table of user settable parameters
const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
@ -87,6 +88,47 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
// @Param: RAT_RLL_ADV
// @DisplayName: Roll Advanced parameters enable
// @Description: Roll Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_RLL_D_FF
// @DisplayName: Roll Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_RLL_NTF
// @DisplayName: Roll Target notch Filter center frequency
// @Description: Roll Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NEF
// @DisplayName: Roll Error notch Filter center frequency
// @Description: Roll Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NBW
// @DisplayName: Roll notch Filter bandwidth
// @Description: Roll notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NATT
// @DisplayName: Roll notch Filter attenuation
// @Description: Roll notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 2, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_PIT_P
@ -161,6 +203,47 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
// @Param: RAT_PIT_ADV
// @DisplayName: Pitch Advanced parameters enable
// @Description: Pitch Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_PIT_D_FF
// @DisplayName: Pitch Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_PIT_NTF
// @DisplayName: Pitch Target notch Filter center frequency
// @Description: Pitch Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NEF
// @DisplayName: Pitch Error notch Filter center frequency
// @Description: Pitch Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NBW
// @DisplayName: Pitch notch Filter bandwidth
// @Description: Pitch notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NATT
// @DisplayName: Pitch notch Filter attenuation
// @Description: Pitch notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 3, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: RAT_YAW_P
@ -235,6 +318,47 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
// @Increment: 0.5
// @User: Advanced
// @Param: RAT_YAW_ADV
// @DisplayName: Yaw Advanced parameters enable
// @Description: Yaw Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_YAW_D_FF
// @DisplayName: 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 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_YAW_NTF
// @DisplayName: Yaw Target notch Filter center frequency
// @Description: Yaw Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NEF
// @DisplayName: Yaw Error notch Filter center frequency
// @Description: Yaw Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NBW
// @DisplayName: Yaw notch Filter bandwidth
// @Description: Yaw notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NATT
// @DisplayName: Yaw notch Filter attenuation
// @Description: Yaw notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 4, AC_AttitudeControl_Heli, AC_HELI_PID),
// @Param: PIRO_COMP
@ -247,6 +371,23 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] = {
AP_GROUPEND
};
AC_AttitudeControl_Heli::AC_AttitudeControl_Heli(AP_AHRS_View &ahrs, const AP_MultiCopter &aparm, AP_MotorsHeli& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
// initialise flags
_flags_heli.leaky_i = true;
_flags_heli.flybar_passthrough = false;
_flags_heli.tail_passthrough = false;
#if AC_PID_ADVANCED_ENABLED
set_notch_sample_rate(AP::scheduler().get_loop_rate_hz());
#endif
}
// passthrough_bf_roll_pitch_rate_yaw - passthrough the pilots roll and pitch inputs directly to swashplate for flybar acro mode
void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_passthrough, float pitch_passthrough, float yaw_rate_bf_cds)
{
@ -485,3 +626,12 @@ void AC_AttitudeControl_Heli::input_euler_angle_roll_pitch_yaw(float euler_roll_
}
AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_angle_cd, slew_yaw);
}
void AC_AttitudeControl_Heli::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
_pid_rate_roll.set_notch_sample_rate(sample_rate);
_pid_rate_pitch.set_notch_sample_rate(sample_rate);
_pid_rate_yaw.set_notch_sample_rate(sample_rate);
#endif
}

19
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
View File

@ -33,19 +33,7 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
public:
AC_AttitudeControl_Heli( AP_AHRS_View &ahrs,
const AP_MultiCopter &aparm,
AP_MotorsHeli& motors) :
AC_AttitudeControl(ahrs, aparm, motors),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_FF, AC_ATC_HELI_RATE_RP_IMAX, AC_ATTITUDE_HELI_RATE_RP_FF_FILTER, AC_ATC_HELI_RATE_RP_FILT_HZ, 0.0f),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_FF, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATTITUDE_HELI_RATE_Y_FF_FILTER, AC_ATC_HELI_RATE_YAW_FILT_HZ, 0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
// initialise flags
_flags_heli.leaky_i = true;
_flags_heli.flybar_passthrough = false;
_flags_heli.tail_passthrough = false;
}
AP_MotorsHeli& motors);
// pid accessors
AC_PID& get_rate_roll_pid() override { return _pid_rate_roll; }
@ -97,7 +85,10 @@ public:
void set_inverted_flight(bool inverted) override {
_inverted_flight = inverted;
}
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) override;
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];

134
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -2,6 +2,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PID.h>
#include <AP_Scheduler/AP_Scheduler.h>
// table of user settable parameters
const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
@ -79,6 +80,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_RLL_ADV
// @DisplayName: Roll Advanced parameters enable
// @Description: Roll Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_RLL_D_FF
// @DisplayName: Roll Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_RLL_NTF
// @DisplayName: Roll Target notch Filter center frequency
// @Description: Roll Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NEF
// @DisplayName: Roll Error notch Filter center frequency
// @Description: Roll Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NBW
// @DisplayName: Roll notch Filter bandwidth
// @Description: Roll notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NATT
// @DisplayName: Roll notch Filter attenuation
// @Description: Roll notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Multi, AC_PID),
@ -154,6 +195,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Description: Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_PIT_ADV
// @DisplayName: Pitch Advanced parameters enable
// @Description: Pitch Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_PIT_D_FF
// @DisplayName: Pitch Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_PIT_NTF
// @DisplayName: Pitch Target notch Filter center frequency
// @Description: Pitch Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NEF
// @DisplayName: Pitch Error notch Filter center frequency
// @Description: Pitch Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NBW
// @DisplayName: Pitch notch Filter bandwidth
// @Description: Pitch notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NATT
// @DisplayName: Pitch notch Filter attenuation
// @Description: Pitch notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Multi, AC_PID),
@ -229,6 +310,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Multi::var_info[] = {
// @Description: Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_YAW_ADV
// @DisplayName: Yaw Advanced parameters enable
// @Description: Yaw Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_YAW_D_FF
// @DisplayName: 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 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_YAW_NTF
// @DisplayName: Yaw Target notch Filter center frequency
// @Description: Yaw Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NEF
// @DisplayName: Yaw Error notch Filter center frequency
// @Description: Yaw Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NBW
// @DisplayName: Yaw notch Filter bandwidth
// @Description: Yaw notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NATT
// @DisplayName: Yaw notch Filter attenuation
// @Description: Yaw notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Multi, AC_PID),
@ -269,6 +390,10 @@ AC_AttitudeControl_Multi::AC_AttitudeControl_Multi(AP_AHRS_View &ahrs, const AP_
_motors_multi(motors)
{
AP_Param::setup_object_defaults(this, var_info);
#if AC_PID_ADVANCED_ENABLED
set_notch_sample_rate(AP::scheduler().get_loop_rate_hz());
#endif
}
// Update Alt_Hold angle maximum
@ -431,3 +556,12 @@ void AC_AttitudeControl_Multi::parameter_sanity_check()
_thr_mix_max.set_and_save(AC_ATTITUDE_CONTROL_MAX_DEFAULT);
}
}
void AC_AttitudeControl_Multi::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
_pid_rate_roll.set_notch_sample_rate(sample_rate);
_pid_rate_pitch.set_notch_sample_rate(sample_rate);
_pid_rate_yaw.set_notch_sample_rate(sample_rate);
#endif
}

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
View File

@ -81,6 +81,9 @@ public:
// sanity check parameters. should be called once before take-off
void parameter_sanity_check() override;
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) override;
// user settable parameters
static const struct AP_Param::GroupInfo var_info[];

129
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
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@ -78,6 +78,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_RLL_ADV
// @DisplayName: Roll Advanced parameters enable
// @Description: Roll Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_RLL_D_FF
// @DisplayName: Roll Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_RLL_NTF
// @DisplayName: Roll Target notch Filter center frequency
// @Description: Roll Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NEF
// @DisplayName: Roll Error notch Filter center frequency
// @Description: Roll Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NBW
// @DisplayName: Roll notch Filter bandwidth
// @Description: Roll notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_RLL_NATT
// @DisplayName: Roll notch Filter attenuation
// @Description: Roll notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_roll, "RAT_RLL_", 1, AC_AttitudeControl_Sub, AC_PID),
@ -153,6 +193,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
// @Description: Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_PIT_ADV
// @DisplayName: Pitch Advanced parameters enable
// @Description: Pitch Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_PIT_D_FF
// @DisplayName: Pitch Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_PIT_NTF
// @DisplayName: Pitch Target notch Filter center frequency
// @Description: Pitch Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NEF
// @DisplayName: Pitch Error notch Filter center frequency
// @Description: Pitch Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NBW
// @DisplayName: Pitch notch Filter bandwidth
// @Description: Pitch notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_PIT_NATT
// @DisplayName: Pitch notch Filter attenuation
// @Description: Pitch notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_pitch, "RAT_PIT_", 2, AC_AttitudeControl_Sub, AC_PID),
@ -228,6 +308,46 @@ const AP_Param::GroupInfo AC_AttitudeControl_Sub::var_info[] = {
// @Description: Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: RAT_YAW_ADV
// @DisplayName: Yaw Advanced parameters enable
// @Description: Yaw Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: RAT_YAW_D_FF
// @DisplayName: 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 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: RAT_YAW_NTF
// @DisplayName: Yaw Target notch Filter center frequency
// @Description: Yaw Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NEF
// @DisplayName: Yaw Error notch Filter center frequency
// @Description: Yaw Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NBW
// @DisplayName: Yaw notch Filter bandwidth
// @Description: Yaw notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: RAT_YAW_NATT
// @DisplayName: Yaw notch Filter attenuation
// @Description: Yaw notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_rate_yaw, "RAT_YAW_", 3, AC_AttitudeControl_Sub, AC_PID),
@ -429,3 +549,12 @@ void AC_AttitudeControl_Sub::input_euler_angle_roll_pitch_slew_yaw(float euler_r
input_euler_angle_roll_pitch_yaw(euler_roll_angle_cd, euler_pitch_angle_cd, euler_yaw_angle_cd, true);
}
}
void AC_AttitudeControl_Sub::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
_pid_rate_roll.set_notch_sample_rate(sample_rate);
_pid_rate_pitch.set_notch_sample_rate(sample_rate);
_pid_rate_yaw.set_notch_sample_rate(sample_rate);
#endif
}

3
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.h
View File

@ -65,6 +65,9 @@ public:
// sanity check parameters. should be called once before take-off
void parameter_sanity_check() override;
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) override;
// This function ensures that the ROV reaches the target orientation with the desired yaw rate
void input_euler_angle_roll_pitch_slew_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, float slew_yaw);

40
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -209,6 +209,46 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = {
// @Description: Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1000
// @Units: d%
// @Param: _ACCZ_ADV
// @DisplayName: Accel (vertical) Advanced parameters enable
// @Description: Accel (vertical) Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _ACCZ_D_FF
// @DisplayName: Accel (vertical) Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0 0.02
// @Increment: 0.0001
// @User: Advanced
// @Param: _ACCZ_NTF
// @DisplayName: Accel (vertical) Target notch Filter center frequency
// @Description: Accel (vertical) Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _ACCZ_NEF
// @DisplayName: Accel (vertical) Error notch Filter center frequency
// @Description: Accel (vertical) Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _ACCZ_NBW
// @DisplayName: Accel (vertical) notch Filter bandwidth
// @Description: Accel (vertical) notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _ACCZ_NATT
// @DisplayName: Accel (vertical) notch Filter attenuation
// @Description: Accel (vertical) notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pid_accel_z, "_ACCZ_", 4, AC_PosControl, AC_PID),