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mtecs: add D gain for speed outer loop

This commit is contained in:
Thomas Gubler 2014-06-11 19:51:33 +02:00
parent e548eeb589
commit 7fa5458bc6
2 changed files with 19 additions and 2 deletions
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4
src/modules/fw_pos_control_l1/mtecs/mTecs.h
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@ -160,8 +160,8 @@ protected:
/* control blocks */
BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output is throttle */
BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control: output is pitch */
BlockPDLimited _controlAltitude; /**< P controller for altitude: output is the flight path angle setpoint */
BlockPLimited _controlAirSpeed; /**< P controller for airspeed: output is acceleration setpoint */
BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight path angle setpoint */
BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration setpoint */
/* Other calculation Blocks */
control::BlockDerivative _airspeedDerivative;

17
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
View File

@ -233,6 +233,23 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
*/
PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f);
/**
* D gain for the airspeed control
* Maps the change of airspeed error to the acceleration setpoint
*
* @min 0.0f
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
/**
* Lowpass for ACC error derivative calculation (see MT_ACC_D)
*
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f);
/**
* Minimal acceleration (air)
*