diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 4cbad7dbb7..ad15853c02 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -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),