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author | James Goppert <james.goppert@gmail.com> | 2013-01-14 17:15:43 -0500 |
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committer | James Goppert <james.goppert@gmail.com> | 2013-01-14 17:15:43 -0500 |
commit | 4613d1247d0dc7091be4ac477053e73866455e2f (patch) | |
tree | 04557354a0a86ed63f7419076779a98460327901 /apps/examples | |
parent | c49320a03ef7f57ae01e9943fc1b4c340c648050 (diff) | |
download | px4-firmware-4613d1247d0dc7091be4ac477053e73866455e2f.tar.gz px4-firmware-4613d1247d0dc7091be4ac477053e73866455e2f.tar.bz2 px4-firmware-4613d1247d0dc7091be4ac477053e73866455e2f.zip |
Added param comments for FWB controller.
Diffstat (limited to 'apps/examples')
-rw-r--r-- | apps/examples/control_demo/params.c | 36 |
1 files changed, 18 insertions, 18 deletions
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index aea260330..422e9b90e 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -24,40 +24,40 @@ PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f); // roll limit, 28 deg // velocity -> theta -PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f); -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, -0.5f); -PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); +PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f); // velocity to pitch angle PID, prop gain +PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain +PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass +PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard +PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle +PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle // theta -> q -PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f); // pitch angle to pitch-rate PID 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, 0.01f); +PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f); PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f); PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f); PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f); // crosstrack -PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // 90 deg -PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f); +PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg +PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f); // cross-track to yaw angle gain // 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); +PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); // minimum commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f); // commanded velocity +PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // maximum commanded velocity // trim -PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); -PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); -PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); -PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f); +PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); // trim elevator (-1,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); // trim rudder (-1,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f); // trim throttle (0,1) |