diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 74 |
1 files changed, 62 insertions, 12 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 6b73dc405..b7041e4d5 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -1,8 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Tobias Naegeli <naegelit@student.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Author: Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,29 +33,80 @@ ****************************************************************************/ /* - * @file multirotor_position_control_params.c - * - * Parameters for EKF filter + * @file multirotor_pos_control_params.c + * + * Parameters for multirotor_pos_control */ #include "multirotor_pos_control_params.h" -/* Extended Kalman Filter covariances */ - /* controller parameters */ -PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f); +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); +PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f); +PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { - /* PID parameters */ - h->p = param_find("MC_POS_P"); + h->takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + h->takeoff_gap = param_find("NAV_TAKEOFF_GAP"); + h->thr_min = param_find("MPC_THR_MIN"); + h->thr_max = param_find("MPC_THR_MAX"); + h->z_p = param_find("MPC_Z_P"); + h->z_d = param_find("MPC_Z_D"); + h->z_vel_p = param_find("MPC_Z_VEL_P"); + h->z_vel_i = param_find("MPC_Z_VEL_I"); + h->z_vel_d = param_find("MPC_Z_VEL_D"); + h->z_vel_max = param_find("MPC_Z_VEL_MAX"); + h->xy_p = param_find("MPC_XY_P"); + h->xy_d = param_find("MPC_XY_D"); + h->xy_vel_p = param_find("MPC_XY_VEL_P"); + h->xy_vel_i = param_find("MPC_XY_VEL_I"); + h->xy_vel_d = param_find("MPC_XY_VEL_D"); + h->xy_vel_max = param_find("MPC_XY_VEL_MAX"); + h->tilt_max = param_find("MPC_TILT_MAX"); + + 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 multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { - param_get(h->p, &(p->p)); + param_get(h->takeoff_alt, &(p->takeoff_alt)); + param_get(h->takeoff_gap, &(p->takeoff_gap)); + param_get(h->thr_min, &(p->thr_min)); + param_get(h->thr_max, &(p->thr_max)); + param_get(h->z_p, &(p->z_p)); + param_get(h->z_d, &(p->z_d)); + param_get(h->z_vel_p, &(p->z_vel_p)); + param_get(h->z_vel_i, &(p->z_vel_i)); + param_get(h->z_vel_d, &(p->z_vel_d)); + param_get(h->z_vel_max, &(p->z_vel_max)); + param_get(h->xy_p, &(p->xy_p)); + param_get(h->xy_d, &(p->xy_d)); + param_get(h->xy_vel_p, &(p->xy_vel_p)); + param_get(h->xy_vel_i, &(p->xy_vel_i)); + param_get(h->xy_vel_d, &(p->xy_vel_d)); + param_get(h->xy_vel_max, &(p->xy_vel_max)); + param_get(h->tilt_max, &(p->tilt_max)); + + 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; } |