Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

changed v_ctl_auto_pitch_dgain to positive (only used in guidance_v_n)

Browse Source
This commit is contained in:
Felix Ruess
2011-11-29 22:10:00 +01:00
parent 192f726d47
commit 47b661a7d2
12 changed files with 15 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+1 -1
View File
@@ -166,7 +166,7 @@
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.03"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+1 -1
View File
@@ -166,7 +166,7 @@
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.05"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
View File
@@ -140,7 +140,7 @@
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
conf/airframes/ENAC/fixed-wing/merlin.xml
+1 -1
View File
@@ -137,7 +137,7 @@
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+1 -1
View File
@@ -146,7 +146,7 @@
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+1 -1
View File
@@ -149,7 +149,7 @@
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
<define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+1 -1
View File
@@ -150,7 +150,7 @@
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
<define name="AUTO_PITCH_IGAIN" value="0.01"/>
<define name="AUTO_PITCH_DGAIN" value="-0"/>
<define name="AUTO_PITCH_DGAIN" value="0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
View File
@@ -164,7 +164,7 @@
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
<define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<!-- airspeed control -->
conf/airframes/flixr_discovery.xml
+2 -2
View File
@@ -264,10 +264,10 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
<!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/-->
<define name="AUTO_PITCH_PGAIN" value="0.052"/>
<define name="AUTO_PITCH_DGAIN" value="-0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.065"/>
conf/settings/tuning_ctl_adaptive.xml
+1 -1
View File
@@ -36,7 +36,7 @@
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
conf/settings/tuning_ctl_new.xml
+1 -1
View File
@@ -41,7 +41,7 @@
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+3 -3
View File
@@ -142,7 +142,7 @@ void v_ctl_init( void ) {
/* "auto pitch" inner loop parameters */
v_ctl_auto_pitch_pgain = ABS(V_CTL_AUTO_PITCH_PGAIN);
v_ctl_auto_pitch_dgain = V_CTL_AUTO_PITCH_DGAIN;
v_ctl_auto_pitch_dgain = ABS(V_CTL_AUTO_PITCH_DGAIN);
v_ctl_auto_pitch_igain = ABS(V_CTL_AUTO_PITCH_IGAIN);
v_ctl_auto_pitch_sum_err = 0.;
@@ -220,7 +220,7 @@ static inline void v_ctl_set_pitch ( void ) {
nav_pitch = 0. //nav_pitch FIXME it really sucks !
+ v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
- v_ctl_auto_pitch_pgain * err
+ v_ctl_auto_pitch_dgain * d_err
- v_ctl_auto_pitch_dgain * d_err
- v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
}
@@ -299,7 +299,7 @@ static inline void v_ctl_set_airspeed( void ) {
nav_pitch = 0. //nav_pitch FIXME it really sucks !
+ v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
- v_ctl_auto_pitch_pgain * err_vz
+ v_ctl_auto_pitch_dgain * d_err_vz
- v_ctl_auto_pitch_dgain * d_err_vz
- v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err
- v_ctl_auto_airspeed_pitch_pgain * err_airspeed
- v_ctl_auto_airspeed_pitch_dgain * d_err_airspeed