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46 lines
2.8 KiB
Plaintext
46 lines
2.8 KiB
Plaintext
# Autotune attitude control status
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#
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# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
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# and is subscribed to by the respective attitude controllers to command rate setpoints.
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#
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# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
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uint64 timestamp # [us] Time since system start
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float32[5] coeff # [-] Coefficients of the identified discrete-time model
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float32[5] coeff_var # [-] Coefficients' variance of the identified discrete-time model
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float32 fitness # [-] Fitness of the parameter estimate
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float32 innov # [rad/s] Innovation (residual error between model and measured output)
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float32 dt_model # [s] Model sample time used for identification
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float32 kc # [-] Proportional rate-loop gain (ideal form)
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float32 ki # [-] Integral rate-loop gain (ideal form)
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float32 kd # [-] Derivative rate-loop gain (ideal form)
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float32 kff # [-] Feedforward rate-loop gain
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float32 att_p # [-] Proportional attitude gain
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float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
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float32 u_filt # [-] Filtered input signal (normalized torque setpoint) used in system identification.
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float32 y_filt # [rad/s] Filtered output signal (angular velocity) used in system identification.
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uint8 state # [@enum STATE] Current state of the autotune procedure.
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uint8 STATE_IDLE = 0 # Idle (not running)
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uint8 STATE_INIT = 1 # Initialize filters and setup
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uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2 # FW only: determine required excitation amplitude (roll)
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uint8 STATE_ROLL = 3 # Roll-axis excitation and model identification
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uint8 STATE_ROLL_PAUSE = 4 # Pause to return to level flight
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uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
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uint8 STATE_PITCH = 6 # Pitch-axis excitation and model identification
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uint8 STATE_PITCH_PAUSE = 7 # Pause to return to level flight
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uint8 STATE_YAW_AMPLITUDE_DETECTION = 8 # FW only: determine required excitation amplitude (yaw)
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uint8 STATE_YAW = 9 # Yaw-axis excitation and model identification
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uint8 STATE_YAW_PAUSE = 10 # Pause to return to level flight
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uint8 STATE_VERIFICATION = 11 # Verify model and candidate gains
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uint8 STATE_APPLY = 12 # Apply gains
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uint8 STATE_TEST = 13 # Test gains in closed-loop
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uint8 STATE_COMPLETE = 14 # Tuning completed successfully
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uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable)
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uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing
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