3 new parameters in src/.
- Added 3 parameters:
MC_REF_FF=0.0,MC_REF_FF_MAX=100.0andMC_REF_W_N=50.0. - Most activity in
src/(+37/−0).
Full analysis → Summary: automatic analysis
Changed values
None.
Added (3)
| Name | Value | Type | File |
|---|---|---|---|
MC_REF_FF | 0.0 | number | src/modules/mc_att_control/mc_att_control_params.yaml |
MC_REF_FF_MAX | 100.0 | number | src/modules/mc_att_control/mc_att_control_params.yaml |
MC_REF_W_N | 50.0 | number | src/modules/mc_att_control/mc_att_control_params.yaml |
Post text (X-ready, not posted)
PX4 update (Jun 26): new MC_REF_FF_MAX = 100.0
- new MC_REF_W_N = 50.0
- new MC_REF_FF gain added at 0 (no effect yet)
Details: https://fitzyracing1.github.io/knoblog/demo/px4/entries/2a0e048.html
Commit: https://github.com/PX4/PX4-Autopilot/commit/2a0e0481713ca44802d74e9d3ba4a92f384d138f
Values are PX4 firmware defaults in the repo.
230/280 weighted chars
Modules touched
| Module | Added | Modified | Removed | Lines + | Lines − |
|---|---|---|---|---|---|
src | 0 | 1 | 0 | +37 | −0 |
Watched files (1)
Show file list
| Path | Lines | Note | |
|---|---|---|---|
| M | src/modules/mc_att_control/mc_att_control_params.yaml | +37/−0 |
Commit message
feat(mc_att_control): feedforward filtered q_d derivative on rate sp (#27255) Add a 2nd-order critically-damped attitude reference model whose angular-velocity output is fed forward onto the rate setpoint, removing the steady-state ramp-tracking lag of the pure-P attitude law. The model uses an exact closed-form discretisation, so it is unconditionally stable. Parameters: - MC_REF_W_N reference-model bandwidth [rad/s] - MC_REF_FF feedforward gain [0..1]; 0 disables the anticipation - MC_REF_FF_MAX per-axis feedforward saturation [deg/s] The commanded yaw rate is always fed forward at unity (it is a setpoint, not a model prediction), so MC_REF_FF scales only the error-driven anticipation and MC_REF_FF=0 is the exact legacy pure-P law. Shipped disabled by default to avoid changing behaviour on existing platforms; enable per-airframe. Includes docs and the updated controller diagram.