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[energyctl] save gains

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This commit is contained in:
Christophe De Wagter
2012-10-11 04:00:11 +02:00
parent 0d1e7b86bc
commit 4337c7e2c4
2 changed files with 26 additions and 6 deletions
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conf/settings/control/ctl_energy.xml
+6 -6
View File
@@ -27,8 +27,8 @@
<dl_settings name="climb_accel">
<dl_setting MAX="2.0" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" module="guidance/energy_ctrl" param="V_CTL_ALTITUDE_PGAIN"/>
<dl_setting MAX="1.0" MIN="0" STEP="0.01" VAR="v_ctl_airspeed_pgain" shortname="speed_pgain" param="V_CTL_AIRSPEED_PGAIN"/>
<dl_setting MAX="10.0" MIN="-10" STEP="0.5" VAR="v_ctl_max_climb" shortname="max_climb" />
<dl_setting MAX="2.0" MIN="-2" STEP="0.05" VAR="v_ctl_max_acceleration" shortname="max_acc_g" />
<dl_setting MAX="10.0" MIN="-10" STEP="0.5" VAR="v_ctl_max_climb" shortname="max_climb" param="V_CTL_MAX_CLIMB"/>
<dl_setting MAX="2.0" MIN="-2" STEP="0.05" VAR="v_ctl_max_acceleration" shortname="max_acc_g" param="V_CTL_MAX_ACCELERATION"/>
</dl_settings>
<dl_settings name="energy_loop">
@@ -46,10 +46,10 @@
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_of_airspeed_igain" shortname="I_pitch_air" />
<dl_setting MAX="5." MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_of_airspeed_dgain" shortname="D_pitch_air" />
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_pgain" shortname="P_en_tot"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_igain" shortname="I_en_tot"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_pgain" shortname="P_en_dis"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_igain" shortname="I_en_dis"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_pgain" shortname="P_en_tot" param="V_CTL_ENERGY_TOT_PGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_total_igain" shortname="I_en_tot" param="V_CTL_ENERGY_TOT_IGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_pgain" shortname="P_en_dis" param="V_CTL_ENERGY_DIFF_PGAIN"/>
<dl_setting MAX="1." MIN="0" STEP="0.01" VAR="v_ctl_energy_diff_igain" shortname="I_en_dis" param="V_CTL_ENERGY_DIFF_IGAIN"/>
</dl_settings>
sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+20
View File
@@ -170,7 +170,12 @@ void v_ctl_init( void ) {
/* outer loop */
v_ctl_altitude_setpoint = 0.;
#ifdef V_CTL_ALTITUDE_PGAIN
v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN;
v_ctl_airspeed_pgain = V_CTL_AIRSPEED_PGAIN;
#endif
v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED;
/* inner loops */
@@ -178,8 +183,23 @@ void v_ctl_init( void ) {
/* "auto throttle" inner loop parameters */
v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
#ifdef V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT
v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
#endif
#ifdef V_CTL_AUTO_THROTTLE_OF_AIRSPEED_PGAIN
v_ctl_auto_throttle_of_airspeed_pgain = V_CTL_AUTO_THROTTLE_OF_AIRSPEED_PGAIN;
v_ctl_auto_throttle_of_airspeed_igain = V_CTL_AUTO_THROTTLE_OF_AIRSPEED_IGAIN;
#endif
#ifdef V_CTL_ENERGY_TOT_PGAIN
v_ctl_energy_total_pgain = V_CTL_ENERGY_TOT_PGAIN;
v_ctl_energy_total_igain = V_CTL_ENERGY_TOT_IGAIN;
v_ctl_energy_diff_pgain = V_CTL_ENERGY_DIFF_PGAIN;
v_ctl_energy_diff_igain = V_CTL_ENERGY_DIFF_IGAIN;
#endif
v_ctl_throttle_setpoint = 0;
}