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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:45:49 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-14 15:45:49 +0100 |
| commit | 97e4522c76c7859f893c7159f7a86f586fd0789b (patch) | |
| tree | 32a06f61c67bad4e4b574c0f6bb5d03cc58100bb /src/modules/fw_pos_control_l1 | |
| parent | 7bcddd192fba723d165957043163762b2e08d802 (diff) | |
| parent | b529e112b8ffaa92274f9dc5d94a1fce581a358e (diff) | |
| download | px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.tar.gz px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.tar.bz2 px4-firmware-97e4522c76c7859f893c7159f7a86f586fd0789b.zip | |
Merge branch 'master' into navigator_new_vector
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 67 |
1 files changed, 60 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 9f46b5170..7954d75c2 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -49,21 +48,75 @@ * */ +/** + * L1 period + * + * This is the L1 distance and defines the tracking + * point ahead of the aircraft its following. + * A value of 25 meters works for most aircraft. Shorten + * slowly during tuning until response is sharp without oscillation. + * + * @min 1.0 + * @max 100.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f); - +/** + * L1 damping + * + * Damping factor for L1 control. + * + * @min 0.6 + * @max 0.9 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f); - +/** + * Default Loiter Radius + * + * This radius is used when no other loiter radius is set. + * + * @min 10.0 + * @max 100.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f); - +/** + * Cruise throttle + * + * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7. + * + * @min 0.0 + * @max 1.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f); - +/** + * Negative pitch limit + * + * The minimum negative pitch the controller will output. + * + * @unit degrees + * @min -60.0 + * @max 0.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); - +/** + * Positive pitch limit + * + * The maximum positive pitch the controller will output. + * + * @unit degrees + * @min 0.0 + * @max 60.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); |