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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 18:11:48 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 18:11:48 +0100 |
commit | 54d624f7c7b5e57d6ec7747056ba2a795ef47dd0 (patch) | |
tree | 373c08df65da4f564697bdc6bb263e77a5652a2c /apps/fixedwing_att_control/fixedwing_att_control_main.c | |
parent | cc1e0ef2356fd3fe24726386add7e6f7106574b6 (diff) | |
download | px4-firmware-54d624f7c7b5e57d6ec7747056ba2a795ef47dd0.tar.gz px4-firmware-54d624f7c7b5e57d6ec7747056ba2a795ef47dd0.tar.bz2 px4-firmware-54d624f7c7b5e57d6ec7747056ba2a795ef47dd0.zip |
Added feedforward throttle to pitch compensation, heading from position controller still broken
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_main.c')
-rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_main.c | 25 |
1 files changed, 0 insertions, 25 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 8773db9b6..8ca87ab53 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -68,31 +68,6 @@ #include <fixedwing_att_control_rate.h> #include <fixedwing_att_control_att.h> -/* - * Controller parameters, accessible via MAVLink - * - */ -// Roll control parameters -PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f); -PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f); // Roll rate limit in radians/sec, applies to the roll controller -PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f); -PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f); - -//Pitch control parameters -PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f); -PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f); -PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f); // Pitch rate limit in radians/sec, applies to the pitch controller -PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f); - -//Yaw control parameters //XXX TODO this is copy paste, asign correct values -PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f); -PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f); -PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f); // Yaw rate limit in radians/sec - /* Prototypes */ /** * Deamon management function. |