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Code Issues Wiki Activity

Added lift coef forcast in AoA limiter

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demvlad 2025-04-24 09:42:13 +03:00
parent e64c8e0da6
commit cb401d1ed9
5 changed files with 21 additions and 5 deletions
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6
src/main/flight/pid.c
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@ -273,9 +273,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
#ifdef USE_AIRPLANE_FCS
.afcs_stick_gain = { 100, 100, 100 }, // Percent control output
.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_damping_filter_freq = 160, // pitch damping filter cut freq 1.6Hz (Tf=0.1s)
.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_damping_filter_freq = 5, // yaw damping filter cut freq 0.05Hz (Tf=3s)
.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
@ -284,6 +284,8 @@ void resetPidProfile(pidProfile_t *pidProfile)
.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 = 15, // Limit aerodinamics lift force coefficient value *10
.afcs_aoa_limiter_gain = 250, // elevator speed for 0.1 lift force coef difference in %/sec *10
.afcs_aoa_limiter_filter_freq = 30, // aoa limiter lift coef filter cut freq 3Hz * 10
.afcs_aoa_limiter_forcast_time = 10, // aoa limiter lift coef forcast time, 1s *10
.afcs_servo_time = 90, // minimal time of servo movement from neutrale to maximum, ms
.afcs_roll_yaw_clift_start = 8, // Aerodynamics lift force coef to start yaw control for roll rotation *10
.afcs_roll_yaw_clift_stop = 15, // Aerodynamics lift force coef to maximum yaw control for roll rotation *10