Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_L1_Control: fix invalid Range meta data

This commit is contained in:
Don Gagne 2015-12-27 16:08:32 +11:00 committed by Andrew Tridgell
parent 47586dae07
commit e891ae8a89
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_L1_Control/AP_L1_Control.cpp
View File

@ -11,21 +11,21 @@ const AP_Param::GroupInfo AP_L1_Control::var_info[] = {
// @DisplayName: L1 control period
// @Description: Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.
// @Units: seconds
// @Range: 1-60
// @Range: 1 60
// @Increment: 1
AP_GROUPINFO("PERIOD", 0, AP_L1_Control, _L1_period, 20),
// @Param: DAMPING
// @DisplayName: L1 control damping ratio
// @Description: Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.
// @Range: 0.6-1.0
// @Range: 0.6 1.0
// @Increment: 0.05
AP_GROUPINFO("DAMPING", 1, AP_L1_Control, _L1_damping, 0.75f),
// @Param: XTRACK_I
// @DisplayName: L1 control crosstrack integrator gain
// @Description: Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
// @Range: 0 to 0.1
// @Range: 0 0.1
// @Increment: 0.01
AP_GROUPINFO("XTRACK_I", 2, AP_L1_Control, _L1_xtrack_i_gain, 0.02),