Update ALT, PITCH PID tuning, adjust autothrust
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cad877cd39
commit
d674bfd3e1
2 changed files with 53 additions and 11 deletions
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@ -291,10 +291,10 @@
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<pitch>
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<umin>-0.60</umin>
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<umax>0.60</umax>
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<kp>-0.09</kp>
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<kp>-0.06</kp>
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<ti>5.0</ti>
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<td>0.00001</td>
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<kp-cws>-0.09</kp-cws>
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<td>0.0001</td>
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<kp-cws>-0.06</kp-cws>
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</pitch>
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<cmd>
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<roll-kp>-0.9</roll-kp>
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@ -59,7 +59,7 @@
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<property>/it-autoflight/input/spd-kts</property>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd</property>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.1</Kp>
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@ -127,7 +127,7 @@
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<scale>500.0</scale>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd</property>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.1</Kp>
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@ -186,7 +186,7 @@
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<value>0</value>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd</property>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.01</Kp>
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@ -245,7 +245,7 @@
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<value>900</value>
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</reference>
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<output>
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<property>/controls/engines/engine[0]/throttle-cmd</property>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.01</Kp>
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@ -260,6 +260,27 @@
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</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>Thrust Filter</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
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<condition>
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<equals>
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<property>/it-autoflight/output/athr</property>
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<value>1</value>
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</equals>
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</condition>
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</enable>
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<input>
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<property>/controls/engines/engine[0]/throttle-cmd-pid</property>
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</input>
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<output>/controls/engines/engine[0]/throttle-cmd</output>
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<type>noise-spike</type>
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<max-rate-of-change>0.1</max-rate-of-change>
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</filter>
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<!-- Engine 2 -->
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<!-- Auto throttle -->
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@ -311,7 +332,7 @@
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<property>/it-autoflight/input/spd-kts</property>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd</property>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.1</Kp>
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@ -379,7 +400,7 @@
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<scale>500.0</scale>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd</property>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.1</Kp>
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@ -438,7 +459,7 @@
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<value>0</value>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd</property>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.01</Kp>
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@ -497,7 +518,7 @@
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<value>900</value>
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</reference>
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<output>
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<property>/controls/engines/engine[1]/throttle-cmd</property>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</output>
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<config>
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<Kp>0.01</Kp>
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@ -512,5 +533,26 @@
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</u_max>
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</config>
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</pid-controller>
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<filter>
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<name>Thrust Filter</name>
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<debug>false</debug>
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<feedback-if-disabled>true</feedback-if-disabled>
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<initialize-to>output</initialize-to>
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<enable>
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<condition>
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<equals>
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<property>/it-autoflight/output/athr</property>
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<value>1</value>
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</equals>
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</condition>
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</enable>
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<input>
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<property>/controls/engines/engine[1]/throttle-cmd-pid</property>
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</input>
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<output>/controls/engines/engine[1]/throttle-cmd</output>
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<type>noise-spike</type>
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<max-rate-of-change>0.1</max-rate-of-change>
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</filter>
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</PropertyList>
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