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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 17:57:21 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 17:57:21 +0200 |
| commit | 1e89f30120f30f0cac9c4bdd7b81ee2da96bcc8f (patch) | |
| tree | 94bf3b4eb750868bdc7fbf95a8c8a063b206d91e /src/modules/fw_att_control/fw_att_control_params.c | |
| parent | ccc6dd73a02f83d8fb857ca25cfe998a3b1303d4 (diff) | |
| download | px4-firmware-1e89f30120f30f0cac9c4bdd7b81ee2da96bcc8f.tar.gz px4-firmware-1e89f30120f30f0cac9c4bdd7b81ee2da96bcc8f.tar.bz2 px4-firmware-1e89f30120f30f0cac9c4bdd7b81ee2da96bcc8f.zip | |
constrain integrator part in control output until startup detection is available for safety reasons
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_params.c')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index efe40b1ef..39b78e20a 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); // @Description This limits the range in degrees the integrator can wind up to. // @Range 0.0 to 45.0 // @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_P_IMAX, 15.0f); +PARAM_DEFINE_FLOAT(FW_P_IMAX, 0.2f); // @DisplayName Roll feedforward gain. // @Description This compensates during turns and ensures the nose stays level. @@ -119,7 +119,7 @@ PARAM_DEFINE_FLOAT(FW_R_I, 0.0f); // @Description This limits the range in degrees the integrator can wind up to. // @Range 0.0 to 45.0 // @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_R_IMAX, 15.0f); +PARAM_DEFINE_FLOAT(FW_R_IMAX, 0.2f); // @DisplayName Maximum Roll Rate // @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. @@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 60); PARAM_DEFINE_FLOAT(FW_Y_P, 0); PARAM_DEFINE_FLOAT(FW_Y_I, 0); -PARAM_DEFINE_FLOAT(FW_Y_IMAX, 15.0f); +PARAM_DEFINE_FLOAT(FW_Y_IMAX, 0.2f); PARAM_DEFINE_FLOAT(FW_Y_D, 0); PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f); |