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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-11 23:23:54 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-11 23:23:54 +0200 |
| commit | 214a8cab492a796d331bf6ac7fa5519e6e753c25 (patch) | |
| tree | 094431390822a7f5eef27d6238de9ffe6f2e106a /src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | |
| parent | 8a8d46625bb8ffd38d144c22eab35d84667ab0f2 (diff) | |
| parent | f4898b94c6fd86d9087ee98634cf543fc1fdcbeb (diff) | |
| download | px4-firmware-214a8cab492a796d331bf6ac7fa5519e6e753c25.tar.gz px4-firmware-214a8cab492a796d331bf6ac7fa5519e6e753c25.tar.bz2 px4-firmware-214a8cab492a796d331bf6ac7fa5519e6e753c25.zip | |
Merge remote-tracking branch 'upstream/navigator_rewrite' into navigator_rewrite_estimator
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs_params.c')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 39514b223..c95bf1dc9 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -222,6 +222,12 @@ PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); */ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); +/** + * Lowpass (cutoff freq.) for airspeed + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f); /** * P gain for the airspeed control @@ -234,6 +240,23 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); /** + * D gain for the airspeed control + * Maps the change of airspeed error to the acceleration setpoint + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f); + +/** + * Lowpass for ACC error derivative calculation (see MT_ACC_D) + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f); + +/** * Minimal acceleration (air) * * @unit m/s^2 |