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ArduCopter: added parameter descriptions for optflow, throttle and loiter pid controllers

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rmackay9 2013-01-02 18:32:11 +09:00
parent ffa923981c
commit 42a5d183da
1 changed files with 168 additions and 7 deletions
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175
ArduCopter/Parameters.pde
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@ -458,25 +458,25 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_4, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_7, "RC7_", RC_Channel_aux),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if MOUNT == ENABLED
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
// @Group: RC11_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
// @Path: ../libraries/RC_Channel/RC_Channel.cpp, ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_11, "RC11_", RC_Channel_aux),
#endif
@ -768,17 +768,178 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GGROUP(pid_throttle_accel,"THR_ACCEL_", AC_PID),
// @Param: OF_RLL_P
// @DisplayName: Optical Flow based loiter controller roll axis P gain
// @Description: Optical Flow based loiter controller roll axis P gain. Converts the position error from the target point to a roll angle
// @Range: 2.000 3.000
// @User: Standard
// @Param: OF_RLL_I
// @DisplayName: Optical Flow based loiter controller roll axis I gain
// @Description: Optical Flow based loiter controller roll axis I gain. Corrects long-term position error by more persistently rolling left or right
// @Range: 0.250 0.750
// @User: Standard
// @Param: OF_RLL_IMAX
// @DisplayName: Optical Flow based loiter controller roll axis I gain maximum
// @Description: Optical Flow based loiter controller roll axis I gain maximum. Constrains the maximum roll angle that the I term will generate
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: OF_RLL_D
// @DisplayName: Optical Flow based loiter controller roll axis D gain
// @Description: Optical Flow based loiter controller roll axis D gain. Compensates for short-term change in speed in the roll direction
// @Range: 0.100 0.140
// @User: Standard
GGROUP(pid_optflow_roll, "OF_RLL_", AC_PID),
// @Param: OF_PIT_P
// @DisplayName: Optical Flow based loiter controller pitch axis P gain
// @Description: Optical Flow based loiter controller pitch axis P gain. Converts the position error from the target point to a pitch angle
// @Range: 2.000 3.000
// @User: Standard
// @Param: OF_PIT_I
// @DisplayName: Optical Flow based loiter controller pitch axis I gain
// @Description: Optical Flow based loiter controller pitch axis I gain. Corrects long-term position error by more persistently pitching left or right
// @Range: 0.250 0.750
// @User: Standard
// @Param: OF_PIT_IMAX
// @DisplayName: Optical Flow based loiter controller pitch axis I gain maximum
// @Description: Optical Flow based loiter controller pitch axis I gain maximum. Constrains the maximum pitch angle that the I term will generate
// @Range: 0 4500
// @Unit: Centi-Degrees
// @User: Standard
// @Param: OF_PIT_D
// @DisplayName: Optical Flow based loiter controller pitch axis D gain
// @Description: Optical Flow based loiter controller pitch axis D gain. Compensates for short-term change in speed in the pitch direction
// @Range: 0.100 0.140
// @User: Standard
GGROUP(pid_optflow_pitch, "OF_PIT_", AC_PID),
// PI controller
//--------------
// @Param: STB_RLL_P
// @DisplayName: Roll axis stabilize controller P gain
// @Description: Roll axis stabilize (i.e. angle) controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
// @Range: 3.000 6.000
// @User: Standard
// @Param: STB_RLL_I
// @DisplayName: Roll axis stabilize controller I gain
// @Description: Roll axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired roll angle and actual angle
// @Range: 0.000 0.100
// @User: Standard
// @Param: STB_RLL_IMAX
// @DisplayName: Roll axis stabilize controller I gain maximum
// @Description: Roll axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum roll rate that the I term will generate
// @Range: 0 4500
// @Unit: Centi-Degrees/Sec
// @User: Standard
GGROUP(pi_stabilize_roll, "STB_RLL_", APM_PI),
// @Param: STB_PIT_P
// @DisplayName: Pitch axis stabilize controller P gain
// @Description: Pitch axis stabilize (i.e. angle) controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
// @Range: 3.000 6.000
// @User: Standard
// @Param: STB_PIT_I
// @DisplayName: Pitch axis stabilize controller I gain
// @Description: Pitch axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired pitch angle and actual angle
// @Range: 0.000 0.100
// @User: Standard
// @Param: STB_PIT_IMAX
// @DisplayName: Pitch axis stabilize controller I gain maximum
// @Description: Pitch axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum pitch rate that the I term will generate
// @Range: 0 4500
// @Unit: Centi-Degrees/Sec
// @User: Standard
GGROUP(pi_stabilize_pitch, "STB_PIT_", APM_PI),
// @Param: STB_YAW_P
// @DisplayName: Yaw axis stabilize controller P gain
// @Description: Yaw axis stabilize (i.e. angle) controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
// @Range: 3.000 6.000
// @User: Standard
// @Param: STB_YAW_I
// @DisplayName: Yaw axis stabilize controller I gain
// @Description: Yaw axis stabilize (i.e. angle) controller I gain. Corrects for longer-term difference in desired yaw angle and actual angle
// @Range: 0.000 0.100
// @User: Standard
// @Param: STB_YAW_IMAX
// @DisplayName: Yaw axis stabilize controller I gain maximum
// @Description: Yaw axis stabilize (i.e. angle) controller I gain maximum. Constrains the maximum yaw rate that the I term will generate
// @Range: 0 4500
// @Unit: Centi-Degrees/Sec
// @User: Standard
GGROUP(pi_stabilize_yaw, "STB_YAW_", APM_PI),
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
// @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
// @Range: 3.000 6.000
// @User: Standard
// @Param: THR_ALT_I
// @DisplayName: Altitude controller I gain
// @Description: Altitude controller I gain. Corrects for longer-term difference in desired altitude and actual altitude
// @Range: 0.000 0.100
// @User: Standard
// @Param: THR_ALT_IMAX
// @DisplayName: Altitude controller I gain maximum
// @Description: Altitude controller I gain maximum. Constrains the maximum climb rate rate that the I term will generate
// @Range: 0 500
// @Unit: cm/s
// @User: Standard
GGROUP(pi_alt_hold, "THR_ALT_", APM_PI),
// @Param: HLD_LAT_P
// @DisplayName: Loiter latitude position controller P gain
// @Description: Loiter latitude 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: 0.100 0.300
// @User: Standard
// @Param: HLD_LAT_I
// @DisplayName: Loiter latitude position controller I gain
// @Description: Loiter latitude position controller I gain. Corrects for longer-term distance (in latitude) to the target location
// @Range: 0.000 0.100
// @User: Standard
// @Param: HLD_LAT_IMAX
// @DisplayName: Loiter latitude position controller I gain maximum
// @Description: Loiter latitude position controller I gain maximum. Constrains the maximum desired speed that the I term will generate
// @Range: 0 3000
// @Unit: cm/s
// @User: Standard
GGROUP(pi_loiter_lat, "HLD_LAT_", APM_PI),
// @Param: HLD_LON_P
// @DisplayName: Loiter longitude position controller P gain
// @Description: Loiter longitude position controller P gain. Converts the distance (in the longitude direction) to the target location into a desired speed which is then passed to the loiter longitude rate controller
// @Range: 0.100 0.300
// @User: Standard
// @Param: HLD_LON_I
// @DisplayName: Loiter longitude position controller I gain
// @Description: Loiter longitude position controller I gain. Corrects for longer-term distance (in longitude direction) to the target location
// @Range: 0.000 0.100
// @User: Standard
// @Param: HLD_LON_IMAX
// @DisplayName: Loiter longitudeposition controller I gain maximum
// @Description: Loiter longitudeposition controller I gain maximum. Constrains the maximum desired speed that the I term will generate
// @Range: 0 3000
// @Unit: cm/s
// @User: Standard
GGROUP(pi_loiter_lon, "HLD_LON_", APM_PI),
// variables not in the g class which contain EEPROM saved variables