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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 10:44:57 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 10:44:57 +0100 |
commit | 42f4f459795476c2e695c6a151bd6ccc349658f0 (patch) | |
tree | 6c85037928dae1eb8a258aa92c0aff87acb4d7c9 /src/modules/mc_att_control/mc_att_control_params.c | |
parent | d55ef18c7f95b701b7aad3493f4f00fa9da9eaaf (diff) | |
download | px4-firmware-42f4f459795476c2e695c6a151bd6ccc349658f0.tar.gz px4-firmware-42f4f459795476c2e695c6a151bd6ccc349658f0.tar.bz2 px4-firmware-42f4f459795476c2e695c6a151bd6ccc349658f0.zip |
mc_att_control_vector renamed to mc_att_control
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 | 53 |
1 files changed, 53 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 new file mode 100644 index 000000000..299cef6c8 --- /dev/null +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -0,0 +1,53 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mc_att_control_params.c + * Parameters for multicopter attitude controller. + */ + +#include <systemlib/param/param.h> + +PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); +PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); |