diff options
| author | tumbili <bapstr@ethz.ch> | 2015-03-10 21:37:26 +0100 |
|---|---|---|
| committer | tumbili <bapstr@ethz.ch> | 2015-03-10 21:38:10 +0100 |
| commit | 7236f22f12dc5609f2775b846d12a62175c11d80 (patch) | |
| tree | f2473aab6955410438a89625a6179475819c2738 /src/modules/mc_att_control/mc_att_control_params.c | |
| parent | f2b2c55afdc2fd5ecdfa213ed5181f44abad0934 (diff) | |
| download | px4-firmware-7236f22f12dc5609f2775b846d12a62175c11d80.tar.gz px4-firmware-7236f22f12dc5609f2775b846d12a62175c11d80.tar.bz2 px4-firmware-7236f22f12dc5609f2775b846d12a62175c11d80.zip | |
added feed-forward for rates
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_params.c')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 302551959..6a21f9046 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -83,6 +83,16 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f); /** + * Roll rate feedforward + * + * Improves tracking performance. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f); + +/** * Pitch P gain * * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. @@ -124,6 +134,16 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f); /** + * Pitch rate feedforward + * + * Improves tracking performance. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f); + +/** * Yaw P gain * * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. @@ -165,6 +185,16 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); /** + * Yaw rate feedforward + * + * Improves tracking performance. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f); + +/** * Yaw feed forward * * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. |