stabilization_adaptive_fw
Adaptive attitude and lateral (heading) control for fixedwing aircraft. Mostly based on PID and optional reference generators and feedforward gains. An experimental adaptive filter is also included to estimate some parameters, but should not be used for normal operation at the moment.
H_CTL_ |
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Name |
Value |
Description |
COURSE_PGAIN |
1.0 |
feedback heading P gain |
COURSE_DGAIN |
0.3 |
feedback heading D gain |
ROLL_MAX_SETPOINT |
45. |
max roll setpoint |
PITCH_MAX_SETPOINT |
30. |
max pitch up setpoint |
PITCH_MIN_SETPOINT |
-30. |
max pitch down setpoint |
ROLL_ATTITUDE_GAIN |
7500 |
feedback roll P gain |
ROLL_RATE_GAIN |
1500 |
feedback roll rate P gain (roll D gain) |
ROLL_IGAIN |
100. |
feedback roll I gain |
ROLL_KFFA |
0 |
feedforward roll acceleration gain |
ROLL_KFFD |
0 |
feedforward roll rate gain |
PITCH_PGAIN |
12000. |
feedback pitch P gain |
PITCH_DGAIN |
1.5 |
feedback pitch D gain |
PITCH_IGAIN |
400 |
feedback pitch I gain |
PITCH_KFFA |
0. |
feedforward pitch acceleration gain |
PITCH_KFFD |
0. |
feedforward pitch rate gain |
PITCH_OF_ROLL |
1. |
feedforward pitch of roll coupling |
AILERON_OF_THROTTLE |
0.0 |
feedforward roll of throttle coupling |
Depends
- @attitude_command
Provides
- commands