FG1000: Cascading PID controllers for GFC700
Thanks to Josh (it0uchpods) for pointing out my controllers were not actually cascading.
This commit is contained in:
Stuart Buchanan
parent
b42f58779e
commit
c9bebd65ed
1 changed files with 133 additions and 131 deletions
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@ -319,62 +319,6 @@
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<!-- =============================================================== -->
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<!-- Aileron control, used by all lateral modes ROL/NAV/HDG -->
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<pid-controller>
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<name>Roll Hold</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<or>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>roll-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>nav-hold</value>
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</equals>
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</or>
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<equals>
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<property>/autopilot/locks/passive-mode</property>
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<value>0</value>
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</equals>
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<not>
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<equals>
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<property>/autopilot/locks/control-wheel-steering</property>
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<value>1</value>
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</equals>
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</not>
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</and>
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</condition>
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</enable>
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<input>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>0.1</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>10.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- Heading Bug Hold. 2 stage cascade controller. -->
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<!-- Stage #1 sets target roll based on diff between current heading -->
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@ -531,18 +475,27 @@
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</pid-controller>
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<!-- =============================================================== -->
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<!-- Pitch Axis Modes -->
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<!-- =============================================================== -->
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<!-- Simple pitch hold for PIT and FLC modes. -->
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<pid-controller>
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<name>Pitch hold</name>
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<!-- Aileron control, used by all lateral modes ROL/NAV/HDG -->
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<pid-controller>
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<name>Roll Hold</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<or>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>roll-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>dg-heading-hold</value>
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</equals>
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<equals>
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<property>/autopilot/locks/heading</property>
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<value>nav-hold</value>
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</equals>
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</or>
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<equals>
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<property>/autopilot/locks/passive-mode</property>
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<value>0</value>
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@ -553,92 +506,36 @@
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<value>1</value>
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</equals>
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</not>
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<or>
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<not>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value></value>
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</equals>
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</not>
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<not>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</equals>
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</not>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<prop>/orientation/pitch-deg</prop>
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<prop>/orientation/roll-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-pitch-deg</prop>
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<prop>/autopilot/settings/target-roll-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator-trim</prop>
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<prop>/controls/flight/aileron</prop>
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</output>
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<config>
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<Kp>-0.05</Kp> <!-- proportional gain -->
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<Kp>0.1</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>1.0</Ti> <!-- integrator time -->
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<Ti>10.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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</pid-controller>
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<!-- Common vertical speed controller for ALT/APR/VNV modes mode -->
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<pid-controller>
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<name>Altitude Hold (Altimeter based) Stage 2</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<not>
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<equals>
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<property>/autopilot/locks/control-wheel-steering</property>
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<value>1</value>
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</equals>
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</not>
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<or>
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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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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<prop>/velocities/vertical-speed-fps</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-climb-rate-fps</prop>
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</reference>
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<output>
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<prop>/autopilot/settings/target-pitch-deg</prop>
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</output>
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<config>
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<Kp>0.1</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>1.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-15.0</u_min><!-- minimum output clamp -->
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<u_max>15.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- =============================================================== -->
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<!-- Pitch Axis Modes -->
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<!-- =============================================================== -->
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<!-- Altitude hold. 2 stage cascade controller. -->
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@ -826,6 +723,55 @@
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</config>
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</pid-controller>
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<!-- Common vertical speed controller for ALT/APR/VNV modes mode -->
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<pid-controller>
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<name>Altitude Hold (Altimeter based) Stage 2</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<not>
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<equals>
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<property>/autopilot/locks/control-wheel-steering</property>
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<value>1</value>
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</equals>
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</not>
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<or>
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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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<equals>
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<property>/autopilot/locks/altitude</property>
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<value>altitude-hold2</value>
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</equals>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<prop>/velocities/vertical-speed-fps</prop>
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</input>
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<reference>
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<prop>/autopilot/internal/target-climb-rate-fps</prop>
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</reference>
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<output>
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<prop>/autopilot/settings/target-pitch-deg</prop>
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</output>
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<config>
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<Kp>0.1</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>1.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-15.0</u_min><!-- minimum output clamp -->
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<u_max>15.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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<!-- =============================================================== -->
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<!-- Velocity Modes -->
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<!-- =============================================================== -->
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@ -864,4 +810,60 @@
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</config>
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</pid-controller>
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<!-- Simple pitch hold for PIT and FLC modes. -->
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<pid-controller>
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<name>Pitch hold</name>
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<debug>false</debug>
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<enable>
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<condition>
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<and>
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<equals>
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<property>/autopilot/locks/passive-mode</property>
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<value>0</value>
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</equals>
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<not>
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<equals>
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<property>/autopilot/locks/control-wheel-steering</property>
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<value>1</value>
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</equals>
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</not>
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<or>
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<not>
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<equals>
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<property>/autopilot/locks/altitude</property>
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<value></value>
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</equals>
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</not>
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<not>
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<equals>
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<property>/autopilot/locks/speed</property>
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<value></value>
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</equals>
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</not>
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</or>
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</and>
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</condition>
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</enable>
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<input>
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<prop>/orientation/pitch-deg</prop>
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</input>
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<reference>
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<prop>/autopilot/settings/target-pitch-deg</prop>
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</reference>
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<output>
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<prop>/controls/flight/elevator-trim</prop>
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</output>
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<config>
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<Kp>-0.05</Kp> <!-- proportional gain -->
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<beta>1.0</beta> <!-- input value weighing factor -->
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<alpha>0.1</alpha> <!-- low pass filter weighing factor -->
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<gamma>0.0</gamma> <!-- input value weighing factor for -->
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<!-- unfiltered derivative error -->
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<Ti>1.0</Ti> <!-- integrator time -->
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<Td>0.00001</Td> <!-- derivator time -->
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<u_min>-1.0</u_min> <!-- minimum output clamp -->
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<u_max>1.0</u_max> <!-- maximum output clamp -->
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</config>
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</pid-controller>
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</PropertyList>
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