From 3a142c96b85938cc0752edcad2c70cb47007e0fa Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 1 Aug 2023 18:35:24 +0930 Subject: [PATCH] Blimp: Support PD Max --- Blimp/Blimp.h | 2 +- Blimp/Parameters.cpp | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h index 0c6e7a2627e37..13f5e7086ff54 100644 --- 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 index 487d0981146b0..bca4883f9c24a 100644 --- 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: