guidance_plane_pid_rotorcraft
Basic guidance code for fixedwing planes using the rotorcraft firmware with PID control, no airspeed control
GUIDANCE_PLANE_ |
||
|---|---|---|
Name |
Value |
Description |
MAX_BANK |
20 |
maximum commanded bank angle |
COURSE_KP |
79 |
feedback horizontal control P gain |
COURSE_KD |
100 |
feedback horizontal control D gain |
ALT_KP |
283 |
feedback vertical control P gain |
MAX_CLIMB |
1.5 |
maximum commanded vertical speed |
PITCH_KP |
283 |
feedback vertical control P gain |
PITCH_KD |
82 |
feedback vertical control D gain |
PITCH_KI |
13 |
feedback vertical control I gain |
THROTTLE_KP |
283 |
feedback vertical control P gain |
THROTTLE_KD |
82 |
feedback vertical control D gain |
THROTTLE_KI |
13 |
feedback vertical control I gain |
NOMINAL_THROTTLE |
0.5 |
nominal throttle at hover (between 0 and 1) |
Depends
- @stabilization
- guidance_rotorcraft
Provides
- guidance
- attitude_command