diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-21 09:02:09 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-21 09:02:09 +0200 |
| commit | c8645a7e530e0adcfafb17325ea05fbdd7c61ae2 (patch) | |
| tree | 16185f8d0d3e706036752c0c9d401c7d83b66e8e /apps/multirotor_att_control/multirotor_attitude_control.c | |
| parent | 89f36087dac5100d1eb64ef1bf246ae2541bd9f7 (diff) | |
| download | px4-firmware-c8645a7e530e0adcfafb17325ea05fbdd7c61ae2.tar.gz px4-firmware-c8645a7e530e0adcfafb17325ea05fbdd7c61ae2.tar.bz2 px4-firmware-c8645a7e530e0adcfafb17325ea05fbdd7c61ae2.zip | |
Added more params, old read-in code not yet replaced
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 19 |
1 files changed, 19 insertions, 0 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 367a0c3e1..b21a20ad1 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -51,8 +51,27 @@ #include <float.h> #include <math.h> #include <systemlib/pid/pid.h> +#include <systemlib/param/param.h> #include <arch/board/up_hrt.h> +PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f); + +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f); + +PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f); + void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose) |