mc att control multiplatform alongside normal mc att control

1 files changed, 65 insertions, 0 deletions

diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
new file mode 100644
index 000000000..59dd5240f
--- /dev/null
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
@@ -0,0 +1,65 @@
+
+/****************************************************************************
+ *
+ *   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
+ * 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.h
+ * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+#pragma once
+
+#define PARAM_MC_ROLL_P_DEFAULT 6.0f
+#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
+#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
+#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
+#define PARAM_MC_PITCH_P_DEFAULT 6.0f
+#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
+#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
+#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
+#define PARAM_MC_YAW_P_DEFAULT 2.0f
+#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
+#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
+#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
+#define PARAM_MC_YAW_FF_DEFAULT 0.5f
+#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
+#define PARAM_MC_MAN_R_MAX_DEFAULT 35.0f
+#define PARAM_MC_MAN_P_MAX_DEFAULT 35.0f
+#define PARAM_MC_MAN_Y_MAX_DEFAULT 120.0f
+#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
+#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
+#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f