Control: New speed on pitch for generic autopilot
This commit is contained in:
Josh Davidson
Stuart Buchanan
parent
b9b496d33b
commit
6e33987a91
1 changed files with 225 additions and 97 deletions
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@ -34,6 +34,9 @@ pitch-limit-max
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pitch-limit-min
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- Set the minimum pitch angle in degrees
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speed-by-pitch-accel
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- Set the maximum acceleration rate for speed on pitch
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-->
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<PropertyList>
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@ -423,10 +426,26 @@ pitch-limit-min
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<output>/autopilot/internal/mach</output>
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</filter>
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<filter> <!-- Filter knots -->
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<name>Knots Lag</name>
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<type>exponential</type>
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<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop -->
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<output>/autopilot/internal/kts-input-lag</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Average knots -->
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<name>Knots Average</name>
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<type>moving-average</type>
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<input>/autopilot/internal/kts-input-lag</input>
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<output>/autopilot/internal/kts-input-avg</output>
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<samples>60</samples>
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</filter>
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<filter> <!-- Compute knots rate -->
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<name>Knots Rate</name>
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<type>derivative</type>
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<input>/velocities/airspeed-kt</input> <!-- This should NOT change no matter what, do not use the current knots prop -->
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<input>/autopilot/internal/kts-input-avg</input>
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<output>/autopilot/internal/kts-rate-raw</output>
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<filter-time>1.0</filter-time>
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</filter>
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@ -436,7 +455,64 @@ pitch-limit-min
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<type>exponential</type>
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<input>/autopilot/internal/kts-rate-raw</input>
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<output>/autopilot/internal/kts-rate</output>
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<filter-time>0.08</filter-time>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Filter mach -->
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<name>Mach Lag</name>
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<type>exponential</type>
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<input>/velocities/mach</input> <!-- This should NOT change no matter what, do not use the current mach prop -->
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<output>/autopilot/internal/mach-input-lag</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Average mach -->
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<name>Mach Average</name>
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<type>moving-average</type>
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<input>/autopilot/internal/mach-input-lag</input>
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<output>/autopilot/internal/mach-input-avg</output>
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<samples>60</samples>
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</filter>
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<filter> <!-- Compute mach rate -->
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<name>Mach Rate</name>
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<type>derivative</type>
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<input>/autopilot/internal/mach-input-avg</input>
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<output>/autopilot/internal/mach-rate-raw</output>
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<filter-time>1.0</filter-time>
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</filter>
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<filter> <!-- Multiply mach rate -->
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<name>Mach Rate Gain</name>
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<type>gain</type>
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<gain>650</gain>
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<input>/autopilot/internal/mach-rate-raw</input>
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<output>/autopilot/internal/mach-rate-gain</output>
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</filter>
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<filter> <!-- Filter mach rate -->
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<name>Mach Rate Lag</name>
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<type>exponential</type>
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<input>/autopilot/internal/mach-rate-raw</input>
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<output>/autopilot/internal/mach-rate</output>
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<filter-time>0.04</filter-time>
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</filter>
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<filter> <!-- Acceleration limit for speed on pitch -->
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<name>Flch Acceleration Limit</name>
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<type>gain</type>
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<gain>1.0</gain>
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<input>
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<condition>
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<greater-than>
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<property>/autopilot/config/speed-by-pitch-accel</property>
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<value>0</value>
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</greater-than>
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</condition>
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<property>/autopilot/config/speed-by-pitch-accel</property>
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</input>
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<input>1.5</input>
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<output>/autopilot/internal/flch-accel</output>
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</filter>
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<filter> <!-- Knots rate computer for speed on pitch -->
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@ -456,7 +532,7 @@ pitch-limit-min
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<property>/autopilot/settings/target-speed-mach</property>
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<property>/autopilot/internal/mach</property>
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</difference>
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<value>80</value>
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<value>100</value>
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</product>
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</expression>
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</input>
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@ -467,13 +543,16 @@ pitch-limit-min
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<property>/autopilot/settings/target-speed-kt</property>
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<property>/autopilot/internal/airspeed-kt</property>
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</difference>
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<value>0.08</value>
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<value>0.1</value>
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</product>
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</expression>
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</input>
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<output>/autopilot/internal/flch-kts-error-cmd</output>
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<min>-1.5</min>
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<max>1.5</max>
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<min>
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<property>/autopilot/internal/flch-accel</property>
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<scale>-1</scale>
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</min>
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<max>/autopilot/internal/flch-accel</max>
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</filter>
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<filter> <!-- Knots rate command filter -->
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@ -493,7 +572,7 @@ pitch-limit-min
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</not-equals>
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</and>
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</condition>
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<value>2.5</value>
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<value>1.5</value>
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</max-rate-of-change>
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<max-rate-of-change>100</max-rate-of-change>
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</filter>
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@ -610,7 +689,7 @@ pitch-limit-min
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<property>/velocities/airspeed-kt</property>
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<entry><ind> 80</ind><dep>0.016</dep></entry>
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<entry><ind>360</ind><dep>0.007</dep></entry>
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<entry><ind>600</ind><dep>0.002</dep></entry>
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<entry><ind>600</ind><dep>0.003</dep></entry>
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</table>
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<property>/autopilot/internal/gain-factor</property>
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</product>
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@ -788,59 +867,150 @@ pitch-limit-min
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<max-rate-of-change>10000</max-rate-of-change>
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</filter>
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<pid-controller> <!-- Speed on pitch target fpm controller -->
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<name>IT-CONTROLLER: Speed By Pitch</name>
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<enable>
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<condition>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</condition>
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</enable>
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<input>/autopilot/internal/kts-rate</input>
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<reference>/autopilot/internal/flch-kts-error</reference>
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<output>/autopilot/internal/target-fpm-flch</output>
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<config>
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<Kp>
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<filter> <!-- Speed on pitch target fpm delta controller -->
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<name>IT-CONTROLLER: Speed By Pitch Delta</name>
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<type>gain</type>
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<gain>
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<expression>
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<table>
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<property>/velocities/airspeed-kt</property>
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<entry><ind> 80</ind><dep>-380</dep></entry>
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<entry><ind>360</ind><dep>-430</dep></entry>
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<entry><ind>600</ind><dep>-470</dep></entry>
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<entry><ind>140</ind><dep> 700</dep></entry>
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<entry><ind>360</ind><dep>1400</dep></entry>
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<entry><ind>600</ind><dep>2100</dep></entry>
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</table>
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</expression>
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</Kp>
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<Ti>1.3</Ti>
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<Td>0.0</Td>
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<u_min>
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<expression>
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<difference>
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<property>/autopilot/internal/vertical-speed-fpm</property>
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<value>2000</value>
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</difference>
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</expression>
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</u_min>
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<u_max>
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<expression>
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<sum>
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<property>/autopilot/internal/vertical-speed-fpm</property>
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<value>2000</value>
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</sum>
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</expression>
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</u_max>
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</config>
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</pid-controller>
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</gain>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value>mach-with-pitch-trim</value>
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</equals>
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</condition>
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<property>/autopilot/internal/mach-rate</property>
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</input>
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<input>/autopilot/internal/kts-rate</input>
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<reference>/autopilot/internal/flch-kts-error</reference>
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<output>/autopilot/internal/flch-raw</output>
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<min>
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<condition>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</min>
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<min>-2000</min>
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<max>2000</max>
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</filter>
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<filter> <!-- Smooth engagement by syncing when disabled -->
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<name>Speed By Pitch Inactive Sync</name>
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<filter> <!-- Filter speed on pitch target fpm delta -->
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<name>Speed By Pitch Filter</name>
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<type>noise-spike</type>
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<input>/autopilot/internal/flch-raw</input>
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<output>/autopilot/internal/flch-filtered</output>
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<max-rate-of-change>
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<condition>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</condition>
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<value>1500</value>
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</max-rate-of-change>
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<max-rate-of-change>10000</max-rate-of-change>
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</filter>
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<filter> <!-- Compute speed on pitch target fpm -->
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<name>Speed By Pitch Final</name>
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<type>gain</type>
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<gain>1.0</gain>
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<enable>
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<condition>
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<not><property>/autopilot/internal/speed-on-pitch-active</property></not>
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</condition>
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</enable>
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<input>/autopilot/internal/vertical-speed-fpm</input>
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<input>
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<expression>
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<sum>
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<property>/autopilot/internal/vert-speed-fpm</property>
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<property>/autopilot/internal/flch-filtered</property>
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</sum>
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</expression>
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</input>
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<output>/autopilot/internal/target-fpm-flch</output>
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<min>
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<condition>
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<or>
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<equals>
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<property>/gear/gear[1]/wow</property>
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<value>1</value>
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</equals>
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<equals>
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<property>/gear/gear[2]/wow</property>
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<value>1</value>
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</equals>
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</or>
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</condition>
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<value>0</value>
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</min>
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<min>-100000</min>
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<max>100000</max>
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</filter>
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<filter> <!-- Filter target fpm -->
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<name>Target FPM Filter</name>
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<type>noise-spike</type>
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<input> <!-- Must be on top of the others -->
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<condition>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</condition>
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<property>/autopilot/internal/target-fpm-flch</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-alt</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>agl-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-agl</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>fpa-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-fpa</property>
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</input>
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<input>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>gs1-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
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</input>
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<input>/autopilot/internal/target-fpm-vs</input>
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<output>/autopilot/internal/target-fpm</output>
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<max-rate-of-change>
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<condition>
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<property>/autopilot/internal/vs-active</property>
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</condition>
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<value>700</value>
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</max-rate-of-change>
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<max-rate-of-change>10000</max-rate-of-change>
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</filter>
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<pid-controller> <!-- Main fpm controller -->
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@ -851,49 +1021,7 @@ pitch-limit-min
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</condition>
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</enable>
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<input>/autopilot/internal/vertical-speed-fpm</input>
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<reference> <!-- Must be on top of the others -->
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<condition>
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<property>/autopilot/internal/speed-on-pitch-active</property>
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</condition>
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<property>/autopilot/internal/target-fpm-flch</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-alt</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>agl-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-agl</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>fpa-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/target-fpm-fpa</property>
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</reference>
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<reference>
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<condition>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>gs1-hold</value>
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</equals>
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</condition>
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<property>/autopilot/internal/nav1-rate-of-climb-fpm</property>
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</reference>
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<reference>/autopilot/internal/target-fpm-vs</reference>
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<reference>/autopilot/internal/target-fpm</reference>
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<output>/autopilot/internal/target-pitch-deg</output>
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<config>
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<Kp>
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