Merge branch 'pid_fixes' into new_state_machine

1 files changed, 70 insertions, 0 deletions

diff --git a/src/examples/flow_speed_control/flow_speed_control_params.c b/src/examples/flow_speed_control/flow_speed_control_params.c
new file mode 100644
index 000000000..8dfe54173
--- /dev/null
+++ b/src/examples/flow_speed_control/flow_speed_control_params.c
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
+ *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
+ *   		 Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file flow_speed_control_params.c
+ * 
+ */
+
+#include "flow_speed_control_params.h"
+
+/* controller parameters */
+PARAM_DEFINE_FLOAT(FSC_S_P, 0.1f);
+PARAM_DEFINE_FLOAT(FSC_L_PITCH, 0.4f);
+PARAM_DEFINE_FLOAT(FSC_L_ROLL, 0.4f);
+
+int parameters_init(struct flow_speed_control_param_handles *h)
+{
+	/* PID parameters */
+	h->speed_p	 			=	param_find("FSC_S_P");
+	h->limit_pitch 			=	param_find("FSC_L_PITCH");
+	h->limit_roll 			=	param_find("FSC_L_ROLL");
+	h->trim_roll 			=	param_find("TRIM_ROLL");
+	h->trim_pitch 			=	param_find("TRIM_PITCH");
+
+
+	return OK;
+}
+
+int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p)
+{
+	param_get(h->speed_p, &(p->speed_p));
+	param_get(h->limit_pitch, &(p->limit_pitch));
+	param_get(h->limit_roll, &(p->limit_roll));
+	param_get(h->trim_roll, &(p->trim_roll));
+	param_get(h->trim_pitch, &(p->trim_pitch));
+
+	return OK;
+}