diff options
| author | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-07-08 10:31:32 +0200 |
| commit | 88389ea2554c6f56a4fdd86cdd86a1e7b6affc21 (patch) | |
| tree | 3ef98ded43e5f3a2cdc30a836a3a7329fe5757bb /src/examples/flow_position_control | |
| parent | 76346bfe19c816491a6982abfa10f48cd9d258f6 (diff) | |
| parent | cf2dbdf9a1ae06c7d0e0a7963916a3709a1bc075 (diff) | |
| download | px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.gz px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.tar.bz2 px4-firmware-88389ea2554c6f56a4fdd86cdd86a1e7b6affc21.zip | |
Merge branch 'master' into new_state_machine
compiling again
Conflicts:
src/modules/fixedwing_att_control/fixedwing_att_control_att.c
src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
src/modules/mavlink/orb_listener.c
src/modules/multirotor_att_control/multirotor_attitude_control.c
src/modules/multirotor_att_control/multirotor_rate_control.c
src/modules/systemlib/pid/pid.c
src/modules/systemlib/pid/pid.h
src/modules/uORB/objects_common.cpp
Diffstat (limited to 'src/examples/flow_position_control')
| -rw-r--r-- | src/examples/flow_position_control/flow_position_control_params.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/examples/flow_position_control/flow_position_control_params.c b/src/examples/flow_position_control/flow_position_control_params.c index 4f3598a57..eb1473647 100644 --- a/src/examples/flow_position_control/flow_position_control_params.c +++ b/src/examples/flow_position_control/flow_position_control_params.c @@ -40,14 +40,25 @@ #include "flow_position_control_params.h" /* controller parameters */ + +// Position control P gain PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f); +// Position control D / damping gain PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f); +// Altitude control P gain PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f); +// Altitude control I (integrator) gain PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f); +// Altitude control D gain PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f); +// Altitude control rate limiter PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f); +// Altitude control minimum altitude PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f); +// Altitude control maximum altitude (higher than 1.5m is untested) PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f); +// Altitude control feed forward throttle - adjust to the +// throttle position (0..1) where the copter hovers in manual flight PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f); PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f); |