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

APM_Control: fixed parameter names

This commit is contained in:
Andrew Tridgell 2013-05-31 15:31:25 +10:00
parent cd55ed45e2
commit f4efa92d3b
2 changed files with 13 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/APM_Control/AP_PitchController.cpp
View File

@ -16,7 +16,7 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = { const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
// @Param: T_CONST // @Param: TCONST
// @DisplayName: Pitch Time Constant // @DisplayName: Pitch Time Constant
// @Description: This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.7 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve. // @Description: This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.7 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.
// @Range: 0.4 1.0 // @Range: 0.4 1.0
@ -25,7 +25,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("TCONST", 0, AP_PitchController, _tau, 0.5f), AP_GROUPINFO("TCONST", 0, AP_PitchController, _tau, 0.5f),
// @Param: K_P // @Param: P
// @DisplayName: Proportional Gain // @DisplayName: Proportional Gain
// @Description: This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value. // @Description: This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value.
// @Range: 0.1 1.0 // @Range: 0.1 1.0
@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
// @User: User // @User: User
AP_GROUPINFO("P", 1, AP_PitchController, _K_P, 0.4f), AP_GROUPINFO("P", 1, AP_PitchController, _K_P, 0.4f),
// @Param: K_D // @Param: D
// @DisplayName: Damping Gain // @DisplayName: Damping Gain
// @Description: This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe. // @Description: This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.
// @Range: 0 0.1 // @Range: 0 0.1
@ -41,7 +41,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
// @User: User // @User: User
AP_GROUPINFO("D", 2, AP_PitchController, _K_D, 0.0f), AP_GROUPINFO("D", 2, AP_PitchController, _K_D, 0.0f),
// @Param: K_I // @Param: I
// @DisplayName: Integrator Gain // @DisplayName: Integrator Gain
// @Description: This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle. // @Description: This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle.
// @Range: 0 0.5 // @Range: 0 0.5
@ -49,31 +49,31 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] PROGMEM = {
// @User: User // @User: User
AP_GROUPINFO("I", 3, AP_PitchController, _K_I, 0.0f), AP_GROUPINFO("I", 3, AP_PitchController, _K_I, 0.0f),
// @Param: RMAX_U // @Param: RMAX_UP
// @DisplayName: Pitch up max rate // @DisplayName: Pitch up max rate
// @Description: This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. // @Description: This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.
// @Range: 0 100 // @Range: 0 100
// @Units: degrees/second // @Units: degrees/second
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RMAX_U", 4, AP_PitchController, _max_rate_pos, 0.0f), AP_GROUPINFO("RMAX_UP", 4, AP_PitchController, _max_rate_pos, 0.0f),
// @Param: RMAX_D // @Param: RMAX_DN
// @DisplayName: Pitch down max rate // @DisplayName: Pitch down max rate
// @Description: This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. // @Description: This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.
// @Range: 0 100 // @Range: 0 100
// @Units: degrees/second // @Units: degrees/second
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("RMAX_D", 5, AP_PitchController, _max_rate_neg, 0.0f), AP_GROUPINFO("RMAX_DN", 5, AP_PitchController, _max_rate_neg, 0.0f),
// @Param: K_RLL // @Param: RLL
// @DisplayName: Roll compensation // @DisplayName: Roll compensation
// @Description: This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased. // @Description: This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.
// @Range: 0.7 1.5 // @Range: 0.7 1.5
// @Increment: 0.05 // @Increment: 0.05
// @User: User // @User: User
AP_GROUPINFO("K_RLL", 6, AP_PitchController, _roll_ff, 1.0f), AP_GROUPINFO("RLL", 6, AP_PitchController, _roll_ff, 1.0f),
AP_GROUPEND AP_GROUPEND
}; };

6
libraries/APM_Control/AP_RollController.cpp
View File

@ -24,7 +24,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("TCONST", 0, AP_RollController, _tau, 0.5f), AP_GROUPINFO("TCONST", 0, AP_RollController, _tau, 0.5f),
// @Param: K_P // @Param: P
// @DisplayName: Proportional Gain // @DisplayName: Proportional Gain
// @Description: This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value. // @Description: This is the gain from bank angle to aileron. This gain works the same way as the P term in the old PID (RLL2SRV_P) and can be set to the same value.
// @Range: 0.1 1.0 // @Range: 0.1 1.0
@ -32,7 +32,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
// @User: User // @User: User
AP_GROUPINFO("P", 1, AP_RollController, _K_P, 0.4f), AP_GROUPINFO("P", 1, AP_RollController, _K_P, 0.4f),
// @Param: K_D // @Param: D
// @DisplayName: Damping Gain // @DisplayName: Damping Gain
// @Description: This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe. // @Description: This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.
// @Range: 0 0.1 // @Range: 0 0.1
@ -40,7 +40,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] PROGMEM = {
// @User: User // @User: User
AP_GROUPINFO("D", 2, AP_RollController, _K_D, 0.0f), AP_GROUPINFO("D", 2, AP_RollController, _K_D, 0.0f),
// @Param: K_I // @Param: I
// @DisplayName: Integrator Gain // @DisplayName: Integrator Gain
// @Description: This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft. // @Description: This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.
// @Range: 0 1.0 // @Range: 0 1.0