纪录无人机PID参数配置

P:

|-------------|---|---|---|-----------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| PSC_D_POS_P | 1 | 1 | | 0.50 4.00 | Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller. Previously _POSZ_P. |

|-------------|---|---|---|----------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| PSC_D_VEL_P | 5 | 5 | | 1.0 10.0 | Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller. Previously _VELZ_P. |

|-------------|------|------|---|-------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| PSC_D_ACC_P | 0.05 | 0.05 | | 0.010 0.250 | Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output. If upgrading from 4.6 this is _ACCZ_P * 0.1. |

pid的算法函数在

// Runs the vertical (U-axis) position controller.

// Computes output acceleration based on position and velocity errors using PID correction.

// Feedforward velocity and acceleration are combined with corrections to produce a smooth vertical command.

// Desired position, velocity, and acceleration must be set before calling.

void AC_PosControl::D_update_controller()

{

// check for ekf z-axis position reset

D_handle_ekf_reset();

// Check for z_controller time out

if (!D_is_active()) {

D_init_controller();

if (has_good_timing()) {

// call internal error because initialisation has not been done

INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);

}

}

_last_update_d_ticks = AP::scheduler().ticks32();

参数名称	所属控制器（类成员变量）	核心作用
PSC_D_POS_P	位置环 (P Controller) 对应代码中的 _p_pos_d_m	将位置误差转换为期望速度，代码为 _p_pos_d_m.update_all()
PSC_D_VEL_P	速度环 (PID Controller) 对应代码中的 _pid_vel_d_m	将速度误差转换为期望加速度，代码为 _pid_vel_d_m.update_all()
PSC_D_ACC_P	加速度环 (PID Controller) 对应代码中的 _pid_accel_d_m	将加速度误差转换为电机推力（油门），代码为 _pid_accel_d_m.update_all()