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Autopilot configuration reference: Difference between revisions
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→pid-controller: Chang formatting to use a definition list.
(→pid-controller: Chang formatting to use a definition list.) |
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=== pid-controller === | === pid-controller === | ||
The [[http://en.wikipedia.org/wiki/PID_controller PID controller]] is the swiss army knife of automation and this implementation is suitable for most situations. It has a builtin anti-windup logic, usage of <max> and <min> elements for output | The [[http://en.wikipedia.org/wiki/PID_controller PID controller]] is the swiss army knife of automation and this implementation is suitable for most situations. It has a builtin anti-windup logic, and usage of <max> and <min> elements for calmping the output is mandatory. The most important thing to know is that this controller 'does not' compute absolute output values but an offset from the current value of the output property. This can lead to unexpected behavior if the current value of the output property is unknown when the controller is enabled. This behavior is different to that of the pi-simple-controller. | ||
The xml element creating a pid controller is | The xml element creating a pid controller is <tt><pid-controller></tt>. | ||
Legal elements are | Legal elements are: | ||
Kp | ;Kp | ||
Ti | : the overall gain for the proportional, integral and derivative part | ||
Td | ;Ti | ||
Ts | : integrator time | ||
alpha | ;Td | ||
beta | : derivator time | ||
gamma | ;Ts | ||
: sampling interval (default: sample at frame rate) | |||
;alpha | |||
: scaling factor for Td (defaults to 0.1) | |||
;beta | |||
: reference weighing factor for the proportional component (defaults to 1.0) | |||
;gamma | |||
: reference weighing factor for the derivate component (defaults to 0.0) | |||
=== pi-simple-controller === | === pi-simple-controller === | ||