fly/IDG-A32X
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

A3XX: Fix oscilating FBW at high Mach, with dynamically scaled Kp for Pitch Rate, and Roll Rate PIDs

Browse source
This commit is contained in:
Joshua Davidson 2017-08-01 19:29:44 -04:00
parent ad3b31ca83
commit 9c2ff8e51d
1 changed files with 38 additions and 2 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

40
Systems/it-fbw.xml
View file

@ -327,6 +327,22 @@
<output>/it-fbw/roll-rate</output>
</filter>
<filter>
<name>IT-FBW: ROLL KP (P Gain)</name>
<type>gain</type>
<gain>1</gain>
<input>
<expression>
<table>
<property>/velocities/mach</property>
<entry><ind>0.2</ind><dep>0.11</dep></entry>
<entry><ind>0.9</ind><dep>0.07</dep></entry>
</table>
</expression>
</input>
<output>/it-fbw/roll-kp</output>
</filter>
<pid-controller>
<name>IT-FBW: ROLL</name>
<debug>false</debug>
@ -358,7 +374,9 @@
<property>/controls/flight/aileron-fbw-cmd</property>
</output>
<config>
<Kp>0.11</Kp>
<Kp>
<property>/it-fbw/roll-kp</property>
</Kp>
<beta>1</beta>
<alpha>0.1</alpha>
<gamma>0</gamma>
@ -833,6 +851,22 @@
<output>/it-fbw/pitch-rate</output>
</filter>
<filter>
<name>IT-FBW: PITCH KP (P Gain)</name>
<type>gain</type>
<gain>1</gain>
<input>
<expression>
<table>
<property>/velocities/mach</property>
<entry><ind>0.2</ind><dep>-0.20</dep></entry>
<entry><ind>0.9</ind><dep>-0.13</dep></entry>
</table>
</expression>
</input>
<output>/it-fbw/pitch-kp</output>
</filter>
<pid-controller>
<name>IT-FBW: PITCH</name>
<debug>false</debug>
@ -882,7 +916,9 @@
<property>/controls/flight/elevator-fbw-cmd</property>
</output>
<config>
<Kp>-0.20</Kp>
<Kp>
<property>/it-fbw/pitch-kp</property>
</Kp>
<beta>1</beta>
<alpha>0.1</alpha>
<gamma>0</gamma>