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 27 Packages Projects Releases Wiki Activity

changed v_ctl_auto_throttle_dgain to positive

Browse Source 
already had positive definition for guidance_v (standard control),
but negative for guidance_v_n (control new)
This commit is contained in:
Felix Ruess
2011-11-29 21:18:27 +01:00
parent 8b3addeac8
commit 72940e1fac
10 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/fixed-wing/funjet3.xml
+1 -1
View File
@@ -134,7 +134,7 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+1 -1
View File
@@ -140,7 +140,7 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+1 -1
View File
@@ -143,7 +143,7 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<!-- Climb loop (pitch) -->
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+1 -1
View File
@@ -144,7 +144,7 @@
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0"/>
<define name="AUTO_THROTTLE_DGAIN" value="0"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
<!-- auto pitch inner loop -->
conf/airframes/ENAC/fixed-wing/weasel.xml
+1 -1
View File
@@ -158,7 +158,7 @@
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
<!-- Climb loop (pitch) -->
conf/airframes/TU_Delft/Trip50A.xml
+1 -1
View File
@@ -127,7 +127,7 @@
<!-- auto throttle inner loop
float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+ v_ctl_auto_throttle_pgain *
- v_ctl_auto_throttle_pgain *
(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_throttle_dgain * d_err);
conf/airframes/flixr_discovery.xml
+1 -1
View File
@@ -259,7 +259,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
conf/settings/tuning_ctl_adaptive.xml
+1 -1
View File
@@ -40,7 +40,7 @@
<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"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
<dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
<dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
conf/settings/tuning_ctl_new.xml
+1 -1
View File
@@ -45,7 +45,7 @@
<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"/>
<dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
<dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
<dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
<dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+2 -2
View File
@@ -241,7 +241,7 @@ static inline void v_ctl_set_throttle( void ) {
controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
- v_ctl_auto_throttle_pgain * err
+ v_ctl_auto_throttle_dgain * d_err
- v_ctl_auto_throttle_dgain * d_err
- v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err;
}
@@ -305,7 +305,7 @@ static inline void v_ctl_set_airspeed( void ) {
controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
- v_ctl_auto_throttle_pgain * err_vz
+ v_ctl_auto_throttle_dgain * d_err_vz
- v_ctl_auto_throttle_dgain * d_err_vz
- v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ v_ctl_auto_airspeed_throttle_pgain * err_airspeed
+ v_ctl_auto_airspeed_throttle_dgain * d_err_airspeed