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Added angle of attack limiter by using of aerodynamics lift force coefficient

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demvlad 2025-04-17 13:28:52 +03:00
parent 72dfefc1f8
commit 01728927d8
5 changed files with 81 additions and 25 deletions
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14
src/main/flight/pid.c
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@ -275,11 +275,15 @@ void resetPidProfile(pidProfile_t *pidProfile)
.afcs_damping_gain = { 20, 30, 50 }, // percent control range addition by 1 degree per second angle rate * 1000
.afcs_pitch_damping_filter_freq = 160, // pitch damping filter cut freq Hz * 100
.afcs_pitch_stability_gain = 0, // percent control range addition by 1g accel z change *100
.afcs_yaw_damping_filter_freq = 5, // yaw damping filter cut freq Hz * 100
.afcs_yaw_stability_gain = 0, // percent control by 1g accel change *100
.afcs_pitch_accel_i_gain = 0, // elevator speed for 1g accel difference in %/sec *10
.afcs_pitch_accel_max = 80, // maximal positive z accel value *10
.afcs_pitch_accel_min = 60, // maximal negative z accel value *10
.afcs_yaw_damping_filter_freq = 5, // yaw damping filter cut freq Hz *100
.afcs_yaw_stability_gain = 0, // percent control by 1g Y accel change *100
.afcs_pitch_accel_i_gain = 250, // elevator speed for 1g Z accel difference in %/sec *10
.afcs_pitch_accel_max = 80, // maximal positive Z accel value *10
.afcs_pitch_accel_min = 60, // maximal negative Z accel value *10
.afcs_wing_load = 5600, // wing load (mass / WingArea) g/decimeter^2 * 100. The g/decimeter^2 units is more comfortable for perception, than kg/m^2, i think
.afcs_air_density = 1225, // The current atmosphere air density [mg/m^3], the MSA 1225 g/m^3 value is default. TODO: Dynamical air density computing by using baro sensors data
.afcs_lift_c_limit = 12, // Limit aerodinamics lift force coefficient value *10
.afcs_aoa_limiter_gain = 250, // elevator speed for 0.1 lift force coef difference in %/sec *10
#endif
);
}