Added control library.

1 files changed, 63 insertions, 0 deletions

diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
new file mode 100644
index 000000000..4eec456fb
--- /dev/null
+++ b/apps/examples/control_demo/params.c
@@ -0,0 +1,63 @@
+#include <systemlib/param/param.h>
+
+// currently tuned for easystar from arkhangar in HIL
+//https://github.com/arktools/arkhangar
+
+// 16 is max name length
+
+// gyro low pass filter
+PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
+PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
+
+// yaw washout
+PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
+
+// stabilization mode
+PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
+PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
+PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
+
+//  psi -> phi -> p
+PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f);      // heading 2 roll
+PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f);        // roll to roll rate
+PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f);  // roll limit
+
+// velocity -> theta
+PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
+
+
+// theta -> q
+PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
+
+//  h -> thr
+PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
+
+// crosstrack
+PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
+
+// speed command
+PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
+PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
+PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
+
+// trim
+PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
+PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);