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APM_Control: update docs for new AC_PID parameters

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add advanced flag to PIDs and selectively compile advanced PID options
This commit is contained in:
Andy Piper 2023-07-30 18:03:34 +02:00 committed by Andrew Tridgell
parent b17b78e329
commit 9211dba484
8 changed files with 301 additions and 0 deletions
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40
libraries/APM_Control/AP_PitchController.cpp
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@ -136,6 +136,46 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
// @Description: Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: _RATE_ADV
// @DisplayName: Pitch Advanced parameters enable
// @Description: Pitch Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _RATE_D_FF
// @DisplayName: Pitch Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _RATE_NTF
// @DisplayName: Pitch Target notch Filter center frequency
// @Description: Pitch Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NEF
// @DisplayName: Pitch Error notch Filter center frequency
// @Description: Pitch Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NBW
// @DisplayName: Pitch notch Filter bandwidth
// @Description: Pitch notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NATT
// @DisplayName: Pitch notch Filter attenuation
// @Description: Pitch notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 11, AP_PitchController, AC_PID),

3
libraries/APM_Control/AP_PitchController.h
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@ -40,6 +40,9 @@ public:
return _pid_info;
}
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
static const struct AP_Param::GroupInfo var_info[];
AP_Float &kP(void) { return rate_pid.kP(); }

40
libraries/APM_Control/AP_RollController.cpp
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@ -119,6 +119,46 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
// @Description: Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: _RATE_ADV
// @DisplayName: Roll Advanced parameters enable
// @Description: Roll Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _RATE_D_FF
// @DisplayName: Roll Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _RATE_NTF
// @DisplayName: Roll Target notch Filter center frequency
// @Description: Roll Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NEF
// @DisplayName: Roll Error notch Filter center frequency
// @Description: Roll Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NBW
// @DisplayName: Roll notch Filter bandwidth
// @Description: Roll notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NATT
// @DisplayName: Roll notch Filter attenuation
// @Description: Roll notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_RollController, AC_PID),

3
libraries/APM_Control/AP_RollController.h
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@ -40,6 +40,9 @@ public:
return _pid_info;
}
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
static const struct AP_Param::GroupInfo var_info[];

40
libraries/APM_Control/AP_YawController.cpp
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@ -150,6 +150,46 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
// @Description: Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0 1
// @Increment: 0.01
// @Param: _RATE_ADV
// @DisplayName: Yaw Advanced parameters enable
// @Description: Yaw Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _RATE_D_FF
// @DisplayName: Yaw Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _RATE_NTF
// @DisplayName: Yaw Target notch Filter center frequency
// @Description: Yaw Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NEF
// @DisplayName: Yaw Error notch Filter center frequency
// @Description: Yaw Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NBW
// @DisplayName: Yaw notch Filter bandwidth
// @Description: Yaw notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _RATE_NATT
// @DisplayName: Yaw notch Filter attenuation
// @Description: Yaw notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(rate_pid, "_RATE_", 9, AP_YawController, AC_PID),

3
libraries/APM_Control/AP_YawController.h
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@ -43,6 +43,9 @@ public:
return _pid_info;
}
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate) { rate_pid.set_notch_sample_rate(sample_rate); }
// start/stop auto tuner
void autotune_start(void);
void autotune_restore(void);

169
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -146,6 +146,46 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Description: Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @Param: _STR_RAT_ADV
// @DisplayName: Steering control Advanced parameters enable
// @Description: Steering control Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _STR_RAT_D_FF
// @DisplayName: Steering control Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _STR_RAT_NTF
// @DisplayName: Steering control Target notch Filter center frequency
// @Description: Steering control Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _STR_RAT_NEF
// @DisplayName: Steering control Error notch Filter center frequency
// @Description: Steering control Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _STR_RAT_NBW
// @DisplayName: Steering control notch Filter bandwidth
// @Description: Steering control notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _STR_RAT_NATT
// @DisplayName: Steering control notch Filter attenuation
// @Description: Steering control notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_steer_rate_pid, "_STR_RAT_", 1, AR_AttitudeControl, AC_PID),
@ -229,6 +269,46 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Description: Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @Param: _SPEED_ADV
// @DisplayName: Speed control Advanced parameters enable
// @Description: Speed control Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _SPEED_D_FF
// @DisplayName: Speed control Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _SPEED_NTF
// @DisplayName: Speed control Target notch Filter center frequency
// @Description: Speed control Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _SPEED_NEF
// @DisplayName: Speed control Error notch Filter center frequency
// @Description: Speed control Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _SPEED_NBW
// @DisplayName: Speed control notch Filter bandwidth
// @Description: Speed control notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _SPEED_NATT
// @DisplayName: Speed control notch Filter attenuation
// @Description: Speed control notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_throttle_speed_pid, "_SPEED_", 2, AR_AttitudeControl, AC_PID),
@ -372,6 +452,46 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Description: Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @Param: _BAL_ADV
// @DisplayName: Pitch control Advanced parameters enable
// @Description: Pitch control Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _BAL_D_FF
// @DisplayName: Pitch control Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _BAL_NTF
// @DisplayName: Pitch control Target notch Filter center frequency
// @Description: Pitch control Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _BAL_NEF
// @DisplayName: Pitch control Error notch Filter center frequency
// @Description: Pitch control Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _BAL_NBW
// @DisplayName: Pitch control notch Filter bandwidth
// @Description: Pitch control notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _BAL_NATT
// @DisplayName: Pitch control notch Filter attenuation
// @Description: Pitch control notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_pitch_to_throttle_pid, "_BAL_", 10, AR_AttitudeControl, AC_PID),
@ -463,6 +583,46 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Description: Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
// @Range: 0.000 1.000
// @Increment: 0.01
// @Param: _SAIL_ADV
// @DisplayName: Sail Heel Advanced parameters enable
// @Description: Sail Heel Advanced parameters enable
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
// @Param: _SAIL_D_FF
// @DisplayName: Sail Heel Derivative FeedForward Gain
// @Description: FF D Gain which produces an output that is proportional to the rate of change of the target
// @Range: 0.001 0.03
// @Increment: 0.001
// @User: Advanced
// @Param: _SAIL_NTF
// @DisplayName: Sail Heel Target notch Filter center frequency
// @Description: Sail Heel Target notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _SAIL_NEF
// @DisplayName: Sail Heel Error notch Filter center frequency
// @Description: Sail Heel Error notch Filter center frequency in Hz.
// @Range: 10 495
// @Units: Hz
// @User: Advanced
// @Param: _SAIL_NBW
// @DisplayName: Sail Heel notch Filter bandwidth
// @Description: Sail Heel notch Filter bandwidth in Hz.
// @Range: 5 250
// @Units: Hz
// @User: Advanced
// @Param: _SAIL_NATT
// @DisplayName: Sail Heel notch Filter attenuation
// @Description: Sail Heel notch Filter attenuation in dB.
// @Range: 5 50
// @Units: dB
// @User: Advanced
AP_SUBGROUPINFO(_sailboat_heel_pid, "_SAIL_", 12, AR_AttitudeControl, AC_PID),
@ -1004,3 +1164,12 @@ void AR_AttitudeControl::relax_I()
_throttle_speed_pid.reset_I();
_pitch_to_throttle_pid.reset_I();
}
void AR_AttitudeControl::set_notch_sample_rate(float sample_rate)
{
#if AC_PID_ADVANCED_ENABLED
_steer_rate_pid.set_notch_sample_rate(sample_rate);
_throttle_speed_pid.set_notch_sample_rate(sample_rate);
_pitch_to_throttle_pid.set_notch_sample_rate(sample_rate);
#endif
}

3
libraries/APM_Control/AR_AttitudeControl.h
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@ -100,6 +100,9 @@ public:
AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; }
const AP_PIDInfo& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; }
// set the PID notch sample rates
void set_notch_sample_rate(float sample_rate);
// get the slew rate value for speed and steering for oscillation detection in lua scripts
void get_srate(float &steering_srate, float &speed_srate);