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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-04 18:43:30 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-04 18:43:30 +0200 |
| commit | e03411fc89fcdf36bfca68b5e27e319b56985782 (patch) | |
| tree | bd59a2be272e7bfd5d5f46bcbdc07a751e557103 /src/modules/fw_pos_control_l1 | |
| parent | b40fcb0aac615e73d140db98381b5b72f6dba4e2 (diff) | |
| download | px4-firmware-e03411fc89fcdf36bfca68b5e27e319b56985782.tar.gz px4-firmware-e03411fc89fcdf36bfca68b5e27e319b56985782.tar.bz2 px4-firmware-e03411fc89fcdf36bfca68b5e27e319b56985782.zip | |
mtecs: more comments for params
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 21 |
1 files changed, 15 insertions, 6 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 591257611..39514b223 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -58,7 +58,8 @@ PARAM_DEFINE_INT32(MT_ENABLED, 1); /** - * Total Energy Rate Control FF + * Total Energy Rate Control Feedforward + * Maps the total energy rate setpoint to the throttle setpoint * * @min 0.0 * @max 10.0 @@ -68,6 +69,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); /** * Total Energy Rate Control P + * Maps the total energy rate error to the throttle setpoint * * @min 0.0 * @max 10.0 @@ -77,6 +79,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); /** * Total Energy Rate Control I + * Maps the integrated total energy rate to the throttle setpoint * * @min 0.0 * @max 10.0 @@ -85,7 +88,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); /** - * Total Energy Rate Control OFF (Cruise throttle) + * Total Energy Rate Control Offset (Cruise throttle sp) * * @min 0.0 * @max 10.0 @@ -94,7 +97,8 @@ PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); /** - * Energy Distribution Rate Control FF + * Energy Distribution Rate Control Feedforward + * Maps the energy distribution rate setpoint to the pitch setpoint * * @min 0.0 * @max 10.0 @@ -104,6 +108,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); /** * Energy Distribution Rate Control P + * Maps the energy distribution rate error to the pitch setpoint * * @min 0.0 * @max 10.0 @@ -113,6 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f); /** * Energy Distribution Rate Control I + * Maps the integrated energy distribution rate error to the pitch setpoint * * @min 0.0 * @max 10.0 @@ -122,7 +128,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f); /** - * Total Energy Distribution OFF (Cruise pitch sp) + * Total Energy Distribution Offset (Cruise pitch sp) * * @min 0.0 * @max 10.0 @@ -170,6 +176,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); /** * P gain for the altitude control + * Maps the altitude error to the flight path angle setpoint * * @min 0.0f * @max 10.0f @@ -179,6 +186,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); /** * D gain for the altitude control + * Maps the change of altitude error to the flight path angle setpoint * * @min 0.0f * @max 10.0f @@ -187,7 +195,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f); /** - * Lowpass for FPA error derivative (see MT_FPA_D) + * Lowpass for FPA error derivative calculation (see MT_FPA_D) * * @group mTECS */ @@ -217,6 +225,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); /** * P gain for the airspeed control + * Maps the airspeed error to the acceleration setpoint * * @min 0.0f * @max 10.0f @@ -241,7 +250,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f); PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); /** - * Airspeed derivative lowpass + * Airspeed derivative calculation lowpass * * @group mTECS */ |