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author | Tobias Naegeli <naegelit@student.ethz.ch> | 2012-11-01 16:50:52 +0100 |
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committer | Tobias Naegeli <naegelit@student.ethz.ch> | 2012-11-01 16:50:52 +0100 |
commit | 80ac43e21dadf727133201663169e6e931bc5a35 (patch) | |
tree | c865806b1b329e84314bdbeeb0d15007ea742d62 /apps/multirotor_att_control/multirotor_rate_control.c | |
parent | 6af2ea9fbc019b023e2b1201b788c9185690e193 (diff) | |
download | px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.tar.gz px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.tar.bz2 px4-firmware-80ac43e21dadf727133201663169e6e931bc5a35.zip |
Fine tuning of manual control
Diffstat (limited to 'apps/multirotor_att_control/multirotor_rate_control.c')
-rw-r--r-- | apps/multirotor_att_control/multirotor_rate_control.c | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index a5bff97e6..d5e20312b 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -58,28 +58,28 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); -PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); +//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); +//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */ PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ +//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); +//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ struct mc_rate_control_params { float yawrate_p; float yawrate_d; float yawrate_i; - float yawrate_awu; - float yawrate_lim; + //float yawrate_awu; + //float yawrate_lim; float attrate_p; float attrate_d; float attrate_i; - float attrate_awu; - float attrate_lim; + //float attrate_awu; + //float attrate_lim; float rate_lim; }; @@ -89,14 +89,14 @@ struct mc_rate_control_param_handles { param_t yawrate_p; param_t yawrate_i; param_t yawrate_d; - param_t yawrate_awu; - param_t yawrate_lim; + //param_t yawrate_awu; + //param_t yawrate_lim; param_t attrate_p; param_t attrate_i; param_t attrate_d; - param_t attrate_awu; - param_t attrate_lim; + //param_t attrate_awu; + //param_t attrate_lim; }; /** @@ -118,14 +118,14 @@ static int parameters_init(struct mc_rate_control_param_handles *h) h->yawrate_p = param_find("MC_YAWRATE_P"); h->yawrate_i = param_find("MC_YAWRATE_I"); h->yawrate_d = param_find("MC_YAWRATE_D"); - h->yawrate_awu = param_find("MC_YAWRATE_AWU"); - h->yawrate_lim = param_find("MC_YAWRATE_LIM"); + //h->yawrate_awu = param_find("MC_YAWRATE_AWU"); + //h->yawrate_lim = param_find("MC_YAWRATE_LIM"); h->attrate_p = param_find("MC_ATTRATE_P"); h->attrate_i = param_find("MC_ATTRATE_I"); h->attrate_d = param_find("MC_ATTRATE_D"); - h->attrate_awu = param_find("MC_ATTRATE_AWU"); - h->attrate_lim = param_find("MC_ATTRATE_LIM"); + //h->attrate_awu = param_find("MC_ATTRATE_AWU"); + //h->attrate_lim = param_find("MC_ATTRATE_LIM"); return OK; } @@ -135,14 +135,14 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru param_get(h->yawrate_p, &(p->yawrate_p)); param_get(h->yawrate_i, &(p->yawrate_i)); param_get(h->yawrate_d, &(p->yawrate_d)); - param_get(h->yawrate_awu, &(p->yawrate_awu)); - param_get(h->yawrate_lim, &(p->yawrate_lim)); + //param_get(h->yawrate_awu, &(p->yawrate_awu)); + //param_get(h->yawrate_lim, &(p->yawrate_lim)); param_get(h->attrate_p, &(p->attrate_p)); param_get(h->attrate_i, &(p->attrate_i)); param_get(h->attrate_d, &(p->attrate_d)); - param_get(h->attrate_awu, &(p->attrate_awu)); - param_get(h->attrate_lim, &(p->attrate_lim)); + //param_get(h->attrate_awu, &(p->attrate_awu)); + //param_get(h->attrate_lim, &(p->attrate_lim)); return OK; } |