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Overview

The POS parameter group (often appearing as PSC_POSXY_P or PSC_POSZ_P) configures the Position Loop Gains.

Key Concepts

1. Position Error to Velocity

The position controller is the outer-most loop in the navigation hierarchy. It compares the vehicle's actual position (GPS/EKF) against the target position (Waypoint).

  • POS_P: The Proportional gain. It defines the "Stiffness" of the position hold.
    • Higher values: The drone will react more aggressively to stay exactly on the point.
    • Lower values: The drone will drift more but movements will be smoother.

Developer Notes

  • Library: libraries/AC_PosControl.
  • Hierarchy: Pos_Error * POS_P -> Target_Velocity.

Winch control position error P gain

POS_P: Winch control position error P gain

Description

Winch control position error P gain.

Values

  • Range: 0.01 to 10.0
  • Default: 1.0

Description

This parameter controls the responsiveness of the winch when moving to a specific cable length.

  • Function: It converts the error between the desired cable length and the actual cable length into a desired deployment or retraction speed.
  • Formula: $TargetRate = Error \times P\_{gain}$
  • Tuning:
    • Higher Value: Faster correction of length errors, but may cause oscillation or jerking if too high.
    • Lower Value: Slower, smoother approach to the target length.

Source Code

ardupilot/libraries/AP_Winch/AP_Winch.cpp

Precision Landing Configuration (PLND) Sensor Probing Configuration (PROBE)