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So far I haven't been able to make the new PID algorithm work well for

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tasks that should be purely proportional.  So I added support for my old
ultra-simplistic PI controller.  This does wonders for stage #1 of the
altitude and AGL hold.
This commit is contained in:
curt 2004-02-23 02:05:21 +00:00
parent 94efbd6fad
commit 29dbe6d379
1 changed files with 11 additions and 21 deletions
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32
Aircraft/Generic/generic-autopilot.xml
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@ -301,7 +301,7 @@
<!-- Stage #1 sets target rate of climb based on diff between current alt -->
<!-- and target altitude. -->
<pid-controller>
<pi-simple-controller>
<name>Altitude Hold (Altimeter based) Stage 1</name>
<debug>false</debug>
<enable>
@ -309,7 +309,7 @@
<value>altitude-hold</value>
</enable>
<input>
<prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
<prop>/position/altitude-ft</prop>
</input>
<reference>
<prop>/autopilot/settings/target-altitude-ft</prop>
@ -318,17 +318,12 @@
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>0.5</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>25.0</Ti> <!-- integrator time -->
<Td>0.000000001</Td> <!-- derivator time -->
<Kp>0.3</Kp> <!-- proportional gain -->
<Ki>0.0</Ki> <!-- integral gain -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
</pi-simple-controller>
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>
@ -364,7 +359,7 @@
<!-- Stage #1 sets target rate of climb based on diff between current agl -->
<!-- and target agl. -->
<pid-controller>
<pi-simple-controller>
<name>AGL Hold (Altimeter based) Stage 1</name>
<debug>false</debug>
<enable>
@ -381,17 +376,12 @@
<prop>/autopilot/internal/target-climb-rate-fps</prop>
</output>
<config>
<Kp>1.0</Kp> <!-- proportional gain -->
<beta>1.0</beta> <!-- input value weighing factor -->
<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered derivative error -->
<Ti>25.0</Ti> <!-- integrator time -->
<Td>0.000000001</Td> <!-- derivator time -->
<Kp>0.3</Kp> <!-- proportional gain -->
<Ki>0.0</Ki> <!-- integral gain -->
<u_min>-16.67</u_min> <!-- minimum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
<u_max>8.33</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
</pi-simple-controller>
<!-- Stage #2 drives the elevator-trim to achieve the desired climb rate. -->
<pid-controller>