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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @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
* 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) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mc_pos_control_params.c
* Multicopter position controller parameters.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_defines.h>
#include "mc_pos_control_params.h"
#include <systemlib/param/param.h>
/**
* Minimum thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_THR_MIN);
/**
* Maximum thrust
*
* Limit max allowed thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_THR_MAX);
/**
* Proportional gain for vertical position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_P);
/**
* Proportional gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_P);
/**
* Integral gain for vertical velocity error
*
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_I);
/**
* Differential gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_D);
/**
* Maximum vertical velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL).
*
* @unit m/s
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX);
/**
* Vertical velocity feed forward
*
* Feed forward weight for altitude control in stabilized modes (ALTCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_FF);
/**
* Proportional gain for horizontal position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_P);
/**
* Proportional gain for horizontal velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_P);
/**
* Integral gain for horizontal velocity error
*
* Non-zero value allows to resist wind.
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_I);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_D);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX);
/**
* Horizontal velocity feed forward
*
* Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_FF);
/**
* Maximum tilt angle in air
*
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR);
/**
* Maximum tilt during landing
*
* Limits maximum tilt angle on landing.
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
/**
* Landing descend rate
*
* @unit m/s
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX);
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