diff options
Diffstat (limited to 'src/examples/flow_position_control/flow_position_control_params.c')
| -rw-r--r-- | src/examples/flow_position_control/flow_position_control_params.c | 124 |
1 files changed, 0 insertions, 124 deletions
diff --git a/src/examples/flow_position_control/flow_position_control_params.c b/src/examples/flow_position_control/flow_position_control_params.c deleted file mode 100644 index eb1473647..000000000 --- a/src/examples/flow_position_control/flow_position_control_params.c +++ /dev/null @@ -1,124 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/* - * @file flow_position_control_params.c - */ - -#include "flow_position_control_params.h" - -/* controller parameters */ - -// Position control P gain -PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f); -// Position control D / damping gain -PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f); -// Altitude control P gain -PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f); -// Altitude control I (integrator) gain -PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f); -// Altitude control D gain -PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f); -// Altitude control rate limiter -PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f); -// Altitude control minimum altitude -PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f); -// Altitude control maximum altitude (higher than 1.5m is untested) -PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f); -// Altitude control feed forward throttle - adjust to the -// throttle position (0..1) where the copter hovers in manual flight -PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight -PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f); -PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f); -PARAM_DEFINE_FLOAT(FPC_L_H_ERR, 0.1f); -PARAM_DEFINE_FLOAT(FPC_L_TH_I, 0.05f); -PARAM_DEFINE_FLOAT(FPC_L_TH_U, 0.8f); -PARAM_DEFINE_FLOAT(FPC_L_TH_L, 0.6f); -PARAM_DEFINE_FLOAT(FPC_L_YAW_STEP, 0.03f); -PARAM_DEFINE_FLOAT(FPC_MAN_THR, 0.1f); - - -int parameters_init(struct flow_position_control_param_handles *h) -{ - /* PID parameters */ - h->pos_p = param_find("FPC_POS_P"); - h->pos_d = param_find("FPC_POS_D"); - h->height_p = param_find("FPC_H_P"); - h->height_i = param_find("FPC_H_I"); - h->height_d = param_find("FPC_H_D"); - h->height_rate = param_find("FPC_H_RATE"); - h->height_min = param_find("FPC_H_MIN"); - h->height_max = param_find("FPC_H_MAX"); - h->thrust_feedforward = param_find("FPC_T_FFWD"); - h->limit_speed_x = param_find("FPC_L_S_X"); - h->limit_speed_y = param_find("FPC_L_S_Y"); - h->limit_height_error = param_find("FPC_L_H_ERR"); - h->limit_thrust_int = param_find("FPC_L_TH_I"); - h->limit_thrust_upper = param_find("FPC_L_TH_U"); - h->limit_thrust_lower = param_find("FPC_L_TH_L"); - h->limit_yaw_step = param_find("FPC_L_YAW_STEP"); - h->manual_threshold = param_find("FPC_MAN_THR"); - h->rc_scale_pitch = param_find("RC_SCALE_PITCH"); - h->rc_scale_roll = param_find("RC_SCALE_ROLL"); - h->rc_scale_yaw = param_find("RC_SCALE_YAW"); - - return OK; -} - -int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p) -{ - param_get(h->pos_p, &(p->pos_p)); - param_get(h->pos_d, &(p->pos_d)); - param_get(h->height_p, &(p->height_p)); - param_get(h->height_i, &(p->height_i)); - param_get(h->height_d, &(p->height_d)); - param_get(h->height_rate, &(p->height_rate)); - param_get(h->height_min, &(p->height_min)); - param_get(h->height_max, &(p->height_max)); - param_get(h->thrust_feedforward, &(p->thrust_feedforward)); - param_get(h->limit_speed_x, &(p->limit_speed_x)); - param_get(h->limit_speed_y, &(p->limit_speed_y)); - param_get(h->limit_height_error, &(p->limit_height_error)); - param_get(h->limit_thrust_int, &(p->limit_thrust_int)); - param_get(h->limit_thrust_upper, &(p->limit_thrust_upper)); - param_get(h->limit_thrust_lower, &(p->limit_thrust_lower)); - param_get(h->limit_yaw_step, &(p->limit_yaw_step)); - param_get(h->manual_threshold, &(p->manual_threshold)); - param_get(h->rc_scale_pitch, &(p->rc_scale_pitch)); - param_get(h->rc_scale_roll, &(p->rc_scale_roll)); - param_get(h->rc_scale_yaw, &(p->rc_scale_yaw)); - - return OK; -} |