From 48531e2ddc7ed40fcc381bcd3774049bd8cdd3e7 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Tue, 19 Nov 2019 22:20:18 +0000 Subject: [PATCH] Update PX4 Firmware metadata Tue Nov 19 22:20:18 UTC 2019 --- .../PX4/PX4ParameterFactMetaData.xml | 400 +++++++++--------- 1 file changed, 201 insertions(+), 199 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 7bbe90d07d..439edf9315 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -4267,102 +4267,6 @@ if required by the gimbal (only in AUX output mode) - - Acro mode Expo factor for Roll and Pitch - Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve - 0 - 1 - 2 - - - Acro mode Expo factor for Yaw - Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve - 0 - 1 - 2 - - - Max acro pitch rate -default: 2 turns per second - 0.0 - 1800.0 - deg/s - 1 - 5 - - - Max acro roll rate -default: 2 turns per second - 0.0 - 1800.0 - deg/s - 1 - 5 - - - Acro mode SuperExpo factor for Roll and Pitch - SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect - 0 - 0.95 - 2 - - - Acro mode SuperExpo factor for Yaw - SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect - 0 - 0.95 - 2 - - - Max acro yaw rate -default 1.5 turns per second - 0.0 - 1800.0 - deg/s - 1 - 5 - - - Battery power level scaler - This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. - - - Cutoff frequency for the low pass filter on the D-term in the rate controller - The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter. - 0 - 1000 - Hz - 0 - 10 - - - Pitch rate D gain - Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - 4 - 0.0005 - - - Pitch rate feedforward - Improves tracking performance. - 0.0 - 4 - - - Pitch rate I gain - Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 3 - 0.01 - - - Pitch rate controller gain - Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form. - 0.0 - 5.0 - 4 - 0.0005 - Max pitch rate Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. @@ -4372,14 +4276,6 @@ default 1.5 turns per second 1 5 - - Pitch rate P gain - Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - 0.6 - 3 - 0.01 - Pitch P gain Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. @@ -4389,13 +4285,6 @@ default 1.5 turns per second 2 0.1 - - Pitch rate integrator limit - Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. - 0.0 - 2 - 0.01 - Threshold for Rattitude mode Manual input needed in order to override attitude control rate setpoints and instead pass manual stick inputs as rate setpoints @@ -4404,35 +4293,6 @@ default 1.5 turns per second 2 0.01 - - Roll rate D gain - Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - 0.01 - 4 - 0.0005 - - - Roll rate feedforward - Improves tracking performance. - 0.0 - 4 - - - Roll rate I gain - Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 3 - 0.01 - - - Roll rate controller gain - Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form. - 0.0 - 5.0 - 4 - 0.0005 - Max roll rate Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro. @@ -4442,14 +4302,6 @@ default 1.5 turns per second 1 5 - - Roll rate P gain - Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - 0.5 - 3 - 0.01 - Roll P gain Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. @@ -4459,42 +4311,6 @@ default 1.5 turns per second 2 0.1 - - Roll rate integrator limit - Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. - 0.0 - 2 - 0.01 - - - Yaw rate D gain - Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. - 0.0 - 2 - 0.01 - - - Yaw rate feedforward - Improves tracking performance. - 0.0 - 4 - 0.01 - - - Yaw rate I gain - Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. - 0.0 - 2 - 0.01 - - - Yaw rate controller gain - Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form. - 0.0 - 5.0 - 4 - 0.0005 - Max yaw rate 0.0 @@ -4503,14 +4319,6 @@ default 1.5 turns per second 1 5 - - Yaw rate P gain - Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. - 0.0 - 0.6 - 2 - 0.01 - Yaw P gain Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. @@ -4520,13 +4328,6 @@ default 1.5 turns per second 2 0.1 - - Yaw rate integrator limit - Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. - 0.0 - 2 - 0.01 - Max yaw rate in auto mode Limit the rate of change of the yaw setpoint in autonomous mode to avoid large control output and mixer saturation. @@ -4967,6 +4768,207 @@ the setpoint will be capped to MPC_XY_VEL_MAX deg/s + + + Acro mode Expo factor for Roll and Pitch + Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve + 0 + 1 + 2 + + + Acro mode Expo factor for Yaw + Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve + 0 + 1 + 2 + + + Max acro pitch rate +default: 2 turns per second + 0.0 + 1800.0 + deg/s + 1 + 5 + + + Max acro roll rate +default: 2 turns per second + 0.0 + 1800.0 + deg/s + 1 + 5 + + + Acro mode SuperExpo factor for Roll and Pitch + SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect + 0 + 0.95 + 2 + + + Acro mode SuperExpo factor for Yaw + SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 resonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect + 0 + 0.95 + 2 + + + Max acro yaw rate +default 1.5 turns per second + 0.0 + 1800.0 + deg/s + 1 + 5 + + + Battery power level scaler + This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. + + + Cutoff frequency for the low pass filter on the D-term in the rate controller + The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to decrease the driver-level filtering, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter. + 0 + 1000 + Hz + 0 + 10 + + + Pitch rate D gain + Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + 4 + 0.0005 + + + Pitch rate feedforward + Improves tracking performance. + 0.0 + 4 + + + Pitch rate I gain + Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 3 + 0.01 + + + Pitch rate controller gain + Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form. + 0.0 + 5.0 + 4 + 0.0005 + + + Pitch rate P gain + Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + 0.6 + 3 + 0.01 + + + Pitch rate integrator limit + Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes. + 0.0 + 2 + 0.01 + + + Roll rate D gain + Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + 0.01 + 4 + 0.0005 + + + Roll rate feedforward + Improves tracking performance. + 0.0 + 4 + + + Roll rate I gain + Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 3 + 0.01 + + + Roll rate controller gain + Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form. + 0.0 + 5.0 + 4 + 0.0005 + + + Roll rate P gain + Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + 0.5 + 3 + 0.01 + + + Roll rate integrator limit + Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes. + 0.0 + 2 + 0.01 + + + Yaw rate D gain + Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + 0.0 + 2 + 0.01 + + + Yaw rate feedforward + Improves tracking performance. + 0.0 + 4 + 0.01 + + + Yaw rate I gain + Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + 0.0 + 2 + 0.01 + + + Yaw rate controller gain + Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form. + 0.0 + 5.0 + 4 + 0.0005 + + + Yaw rate P gain + Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + 0.0 + 0.6 + 2 + 0.01 + + + Yaw rate integrator limit + Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes. + 0.0 + 2 + 0.01 + + Enable/Disable the ATXXX OSD Chip -- GitLab