From 7fa5458bc619df427fc29283ff5ff32b933f2906 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 11 Jun 2014 19:51:33 +0200 Subject: [PATCH] mtecs: add D gain for speed outer loop --- src/modules/fw_pos_control_l1/mtecs/mTecs.h | 4 ++-- .../fw_pos_control_l1/mtecs/mTecs_params.c | 17 +++++++++++++++++ 2 files changed, 19 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index ddd6583e86..346acfaf38 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -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; diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 39514b2238..6165611b98 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -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) *