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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, 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 mc_pos_control_params.h
* Multicopter position controller parameters.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#define PARAM_MPP_THR_MIN_DEFAULT 0.1f
#define PARAM_MPP_THR_MAX_DEFAULT 1.0f
#define PARAM_MPP_Z_P_DEFAULT 1.0f
#define PARAM_MPP_Z_VEL_P_DEFAULT 0.1f
#define PARAM_MPP_Z_VEL_I_DEFAULT 0.02f
#define PARAM_MPP_Z_VEL_D_DEFAULT 0.0f
#define PARAM_MPP_Z_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPP_Z_FF_DEFAULT 0.5f
#define PARAM_MPP_XY_P_DEFAULT 1.0f
#define PARAM_MPP_XY_VEL_P_DEFAULT 0.1f
#define PARAM_MPP_XY_VEL_I_DEFAULT 0.02f
#define PARAM_MPP_XY_VEL_D_DEFAULT 0.01f
#define PARAM_MPP_XY_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPP_XY_FF_DEFAULT 0.5f
#define PARAM_MPP_TILTMAX_AIR_DEFAULT 45.0f
#define PARAM_MPP_TILTMAX_LND_DEFAULT 15.0f
#define PARAM_MPP_LAND_SPEED_DEFAULT 1.0f
#define PARAM_MPP_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MPP_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MPP_MAN_Y_MAX_DEFAULT 120.0f
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