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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-05 11:44:25 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-05 11:44:25 +0200 |
commit | 422c675c551c4a160e8bcdb18ffe3c6160b63980 (patch) | |
tree | c438fe08ed2fa45275e5e6f498376c409d67ac60 /src/examples | |
parent | 5f2d35d7150d9ae5d72eba008f785aee65a513c4 (diff) | |
download | px4-firmware-422c675c551c4a160e8bcdb18ffe3c6160b63980.tar.gz px4-firmware-422c675c551c4a160e8bcdb18ffe3c6160b63980.tar.bz2 px4-firmware-422c675c551c4a160e8bcdb18ffe3c6160b63980.zip |
Commented flow example slightly better
Diffstat (limited to 'src/examples')
-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); |