path: root/src/modules/mc_pos_control/mc_pos_control_params.c

/*
 * mc_pos_control_params.c
 *
 *  Created on: 26.12.2013
 *      Author: ton
 */

#include <systemlib/param/param.h>

/* multicopter position controller parameters */
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);