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AC_PosControl: shorten PSC_ACCELZ param to PSC_ACCZ

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This commit is contained in:
Randy Mackay 2018-01-27 15:39:55 +09:00
parent 0626d105ed
commit 61933c6f1c
1 changed files with 19 additions and 19 deletions
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38
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -8,12 +8,12 @@ extern const AP_HAL::HAL& hal;
// default gains for Plane
# define POSCONTROL_POS_Z_P 1.0f // vertical position controller P gain default
# define POSCONTROL_VEL_Z_P 5.0f // vertical velocity controller P gain default
# define POSCONTROL_ACCEL_Z_P 0.3f // vertical acceleration controller P gain default
# define POSCONTROL_ACCEL_Z_I 1.0f // vertical acceleration controller I gain default
# define POSCONTROL_ACCEL_Z_D 0.0f // vertical acceleration controller D gain default
# define POSCONTROL_ACCEL_Z_IMAX 800 // vertical acceleration controller IMAX gain default
# define POSCONTROL_ACCEL_Z_FILT_HZ 10.0f // vertical acceleration controller input filter default
# define POSCONTROL_ACCEL_Z_DT 0.02f // vertical acceleration controller dt default
# define POSCONTROL_ACC_Z_P 0.3f // vertical acceleration controller P gain default
# define POSCONTROL_ACC_Z_I 1.0f // vertical acceleration controller I gain default
# define POSCONTROL_ACC_Z_D 0.0f // vertical acceleration controller D gain default
# define POSCONTROL_ACC_Z_IMAX 800 // vertical acceleration controller IMAX gain default
# define POSCONTROL_ACC_Z_FILT_HZ 10.0f // vertical acceleration controller input filter default
# define POSCONTROL_ACC_Z_DT 0.02f // vertical acceleration controller dt default
# define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default
# define POSCONTROL_VEL_XY_P 0.7f // horizontal velocity controller P gain default
# define POSCONTROL_VEL_XY_I 0.35f // horizontal velocity controller I gain default
@ -25,12 +25,12 @@ extern const AP_HAL::HAL& hal;
// default gains for Copter and Sub
# define POSCONTROL_POS_Z_P 1.0f // vertical position controller P gain default
# define POSCONTROL_VEL_Z_P 5.0f // vertical velocity controller P gain default
# define POSCONTROL_ACCEL_Z_P 0.5f // vertical acceleration controller P gain default
# define POSCONTROL_ACCEL_Z_I 1.0f // vertical acceleration controller I gain default
# define POSCONTROL_ACCEL_Z_D 0.0f // vertical acceleration controller D gain default
# define POSCONTROL_ACCEL_Z_IMAX 800 // vertical acceleration controller IMAX gain default
# define POSCONTROL_ACCEL_Z_FILT_HZ 20.0f // vertical acceleration controller input filter default
# define POSCONTROL_ACCEL_Z_DT 0.0025f // vertical acceleration controller dt default
# define POSCONTROL_ACC_Z_P 0.5f // vertical acceleration controller P gain default
# define POSCONTROL_ACC_Z_I 1.0f // vertical acceleration controller I gain default
# define POSCONTROL_ACC_Z_D 0.0f // vertical acceleration controller D gain default
# define POSCONTROL_ACC_Z_IMAX 800 // vertical acceleration controller IMAX gain default
# define POSCONTROL_ACC_Z_FILT_HZ 20.0f // vertical acceleration controller input filter default
# define POSCONTROL_ACC_Z_DT 0.0025f // vertical acceleration controller dt default
# define POSCONTROL_POS_XY_P 1.0f // horizontal position controller P gain default
# define POSCONTROL_VEL_XY_P 1.0f // horizontal velocity controller P gain default
# define POSCONTROL_VEL_XY_I 0.5f // horizontal velocity controller I gain default
@ -66,39 +66,39 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] = {
// @User: Standard
AP_SUBGROUPINFO(_p_vel_z, "_VELZ_", 3, AC_PosControl, AC_P),
// @Param: _ACCELZ_P
// @Param: _ACCZ_P
// @DisplayName: Acceleration (vertical) controller P gain
// @Description: Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
// @Range: 0.500 1.500
// @Increment: 0.05
// @User: Standard
// @Param: _ACCELZ_I
// @Param: _ACCZ_I
// @DisplayName: Acceleration (vertical) controller I gain
// @Description: Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
// @Range: 0.000 3.000
// @User: Standard
// @Param: _ACCELZ_IMAX
// @Param: _ACCZ_IMAX
// @DisplayName: Acceleration (vertical) controller I gain maximum
// @Description: Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate
// @Range: 0 1000
// @Units: d%
// @User: Standard
// @Param: _ACCELZ_D
// @Param: _ACCZ_D
// @DisplayName: Acceleration (vertical) controller D gain
// @Description: Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
// @Range: 0.000 0.400
// @User: Standard
// @Param: _ACCELZ_FILT
// @Param: _ACCZ_FILT
// @DisplayName: Acceleration (vertical) controller filter
// @Description: Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.
// @Range: 1.000 100.000
// @Units: Hz
// @User: Standard
AP_SUBGROUPINFO(_pid_accel_z, "_ACCELZ_", 4, AC_PosControl, AC_PID),
AP_SUBGROUPINFO(_pid_accel_z, "_ACCZ_", 4, AC_PosControl, AC_PID),
// @Param: _POSXY_P
// @DisplayName: Position (horizonal) controller P gain
@ -166,7 +166,7 @@ AC_PosControl::AC_PosControl(const AP_AHRS_View& ahrs, const AP_InertialNav& ina
_attitude_control(attitude_control),
_p_pos_z(POSCONTROL_POS_Z_P),
_p_vel_z(POSCONTROL_VEL_Z_P),
_pid_accel_z(POSCONTROL_ACCEL_Z_P, POSCONTROL_ACCEL_Z_I, POSCONTROL_ACCEL_Z_D, POSCONTROL_ACCEL_Z_IMAX, POSCONTROL_ACCEL_Z_FILT_HZ, POSCONTROL_ACCEL_Z_DT),
_pid_accel_z(POSCONTROL_ACC_Z_P, POSCONTROL_ACC_Z_I, POSCONTROL_ACC_Z_D, POSCONTROL_ACC_Z_IMAX, POSCONTROL_ACC_Z_FILT_HZ, POSCONTROL_ACC_Z_DT),
_p_pos_xy(POSCONTROL_POS_XY_P),
_pid_vel_xy(POSCONTROL_VEL_XY_P, POSCONTROL_VEL_XY_I, POSCONTROL_VEL_XY_D, POSCONTROL_VEL_XY_IMAX, POSCONTROL_VEL_XY_FILT_HZ, POSCONTROL_VEL_XY_FILT_D_HZ, POSCONTROL_DT_50HZ),
_dt(POSCONTROL_DT_400HZ),