guidance_full_pid_fw

Vertical control for fixedwing aircraft based on PID By default, throttle and pitch are used to track vertical speed and altitude. Airspeed or ground speed control can be activated.

Section VERTICAL CONTROL

V_CTL_
Name	Value	Description
ALTITUDE_PGAIN	0.12	altitude loop P gain
ALTITUDE_MAX_CLIMB	4.	max climb rate
AUTO_CLIMB_LIMIT	1.	climb rate limiter
AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE	0.5	nominal throttle for cruise flight
AUTO_THROTTLE_MIN_CRUISE_THROTTLE	0.25	min cruise throttle
AUTO_THROTTLE_MAX_CRUISE_THROTTLE	0.85	max cruise throttle
AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT	0.088	feedforward throttle gain
AUTO_THROTTLE_PGAIN	0.004	feedback throttle P gain
AUTO_THROTTLE_DGAIN	0.0	feedback throttle D gain
AUTO_THROTTLE_IGAIN	0.	feedback throttle I gain
AUTO_THROTTLE_PITCH_OF_VZ_PGAIN	0.077	feedforward pitch gain
AUTO_PITCH_PGAIN	0.027	feedback pitch P gain
AUTO_PITCH_DGAIN	0.01	feedback pitch D gain
AUTO_PITCH_IGAIN	0.0	feedback pitch I gain
AUTO_PITCH_MAX_PITCH	20.	max pitch up setpoint
AUTO_PITCH_MIN_PITCH	-20.	max pitch down setpoint
AUTO_AIRSPEED_SETPOINT	16.	default airspeed setpoint
AUTO_AIRSPEED_THROTTLE_PGAIN	0.1	throttle P gain for airspeed control
AUTO_AIRSPEED_THROTTLE_DGAIN	0.12	throttle D gain for airspeed control
AUTO_AIRSPEED_THROTTLE_IGAIN	0.0	throttle I gain for airspeed control
AUTO_AIRSPEED_PITCH_PGAIN	0.06	pitch P gain for airspeed control
AUTO_AIRSPEED_PITCH_DGAIN	0.0	pitch D gain for airspeed control
AUTO_AIRSPEED_PITCH_IGAIN	0.042	pitch I gain for airspeed control
AIRSPEED_MAX	30	max airspeed setpoint
AIRSPEED_MIN	10	min airspeed setpoint
AUTO_GROUNDSPEED_SETPOINT	15	default ground speed setpoint
AUTO_GROUNDSPEED_PGAIN	1.	ground speed P gain
AUTO_GROUNDSPEED_IGAIN	0.	ground speed I gain
PITCH_LOITER_TRIM	0.	loiter pitch setpoint trim
PITCH_DASH_TRIM	0.	dash pitch setpoint trim
THROTTLE_SLEW	0.1	throttle slew rate limiter

Depends

• @navigation

Provides

• guidance
• attitude_command

Sections