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.

Section HORIZONTAL CONTROL

H_CTL_

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

Sections