Blimp: Support PD Max

lthall · Aug 9, 2023 · 3a142c9 · 3a142c9
1 parent 78bbc05
commit 3a142c9
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
@@ -232,7 +232,7 @@ class Blimp : public AP_Vehicle
 
     AC_PID_2D pid_pos_xy{1, 0.05, 0, 0, 0.1, 3, 3};
     AC_PID_Basic pid_pos_z{0.7, 0, 0, 0, 0, 3, 3};
-    AC_PID pid_pos_yaw{1.2, 0.5, 0, 0, 2, 3, 3, 3}; //p, i, d, ff, imax, filt_t, filt_e, filt_d, dt, opt srmax, opt srtau
+    AC_PID pid_pos_yaw{1.2, 0.5, 0, 0, 0, 2, 3, 3, 3}; //p, i, d, ff, imax, pdmax, filt_t, filt_e, filt_d, dt, opt srmax, opt srtau
 
     // System Timers
     // --------------

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
@@ -722,6 +722,14 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Range: 0 200
     // @Increment: 0.5
     // @User: Advanced
+
+    // @Param: POSYAW_PDMX
+    // @DisplayName: PD Sum Maximum
+    // @Description: The maximum/minimum value that the sum of the P and D term can output
+    // @Range: 0 4000
+    // @Increment: 10
+    // @Units: d%
+    // @User: Standard
     GOBJECT(pid_pos_yaw, "POSYAW_", AC_PID),
 
     // @Group: