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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-26 23:03:19 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-26 23:03:19 +0400 |
| commit | 20c9ce9d6dc119547bc81b9034cebc69a364b565 (patch) | |
| tree | da03b71b5db9168b00d26ec3c4a020c4a7b15b12 /src/modules/mc_pos_control/mc_pos_control_params.c | |
| parent | e103729de308c113d561942335a4bcf20c68a255 (diff) | |
| download | px4-firmware-20c9ce9d6dc119547bc81b9034cebc69a364b565.tar.gz px4-firmware-20c9ce9d6dc119547bc81b9034cebc69a364b565.tar.bz2 px4-firmware-20c9ce9d6dc119547bc81b9034cebc69a364b565.zip | |
mc_pos_control: replacement for multirotor_pos_control, rewritten to C++ and new mathlib
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_params.c')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 25 |
1 files changed, 25 insertions, 0 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c new file mode 100644 index 000000000..2fe70698f --- /dev/null +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -0,0 +1,25 @@ +/* + * mc_pos_control_params.c + * + * Created on: 26.12.2013 + * Author: ton + */ + +#include <systemlib/param/param.h> + +/* multicopter position controller parameters */ +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.05f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); +PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.01f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); |