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ArduCopter: added parameter description for navigation and some throttle controllers

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rmackay9 2013-01-02 17:44:21 +09:00
parent 4a975d35ce
commit ffa923981c
1 changed files with 98 additions and 0 deletions
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98
ArduCopter/Parameters.pde
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@ -664,10 +664,108 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GGROUP(pid_loiter_rate_lon, "LOITER_LON_", AC_PID),
// @Param: NAV_LAT_P
// @DisplayName: Navigation latitude rate controller P gain
// @Description: Navigation latitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the latitude direction
// @Range: 2.000 2.800
// @User: Standard
// @Param: NAV_LAT_I
// @DisplayName: Navigation latitude rate controller I gain
// @Description: Navigation latitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the latitude direction
// @Range: 0.140 0.200
// @User: Standard
// @Param: NAV_LAT_IMAX
// @DisplayName: Navigation rate controller I gain maximum
// @Description: Navigation rate controller I gain maximum. Constrains the lean angle that the I gain will output
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: NAV_LAT_D
// @DisplayName: Navigation latitude rate controller D gain
// @Description: Navigation latitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed
// @Range: 0.000 0.100
// @User: Standard
GGROUP(pid_nav_lat, "NAV_LAT_", AC_PID),
// @Param: NAV_LON_P
// @DisplayName: Navigation longitude rate controller P gain
// @Description: Navigation longitude rate controller P gain. Converts the difference between desired speed and actual speed into a lean angle in the longitude direction
// @Range: 2.000 2.800
// @User: Standard
// @Param: NAV_LON_I
// @DisplayName: Navigation longitude rate controller I gain
// @Description: Navigation longitude rate controller I gain. Corrects long-term difference in desired speed and actual speed in the longitude direction
// @Range: 0.140 0.200
// @User: Standard
// @Param: NAV_LON_IMAX
// @DisplayName: Navigation longitude rate controller I gain maximum
// @Description: Navigation longitude rate controller I gain maximum. Constrains the lean angle that the I gain will generate
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: NAV_LON_D
// @DisplayName: Navigation longituderate controller D gain
// @Description: Navigation longitude rate controller D gain. Compensates for short-term change in desired speed vs actual speed
// @Range: 0.000 0.100
// @User: Standard
GGROUP(pid_nav_lon, "NAV_LON_", AC_PID),
// @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
// @Range: 1.000 8.000
// @User: Standard
// @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
// @Unit: 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(pid_throttle, "THR_RATE_", AC_PID),
// @Param: THR_ACCEL_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
// @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
// @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: 0 500
// @Unit: PWM
// @User: Standard
// @Param: THR_ACCEL_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_optflow_roll, "OF_RLL_", AC_PID),