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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-15 11:36:26 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-15 11:36:26 +0400 |
| commit | 38ca3bd78a9b415df4a260a8cba43e2c13703972 (patch) | |
| tree | c9a0a5802ddd2e699c8daf818bcda538b79fdde7 /src/modules/multirotor_pos_control/multirotor_pos_control_params.c | |
| parent | e4b25f857016302fa254d41a964e586da49dd4b3 (diff) | |
| download | px4-firmware-38ca3bd78a9b415df4a260a8cba43e2c13703972.tar.gz px4-firmware-38ca3bd78a9b415df4a260a8cba43e2c13703972.tar.bz2 px4-firmware-38ca3bd78a9b415df4a260a8cba43e2c13703972.zip | |
multirotor_pos_control fixes, introduced HARD control mode (disabled by default)
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 7f2ba3db8..7c3296cae 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -53,6 +53,7 @@ PARAM_DEFINE_FLOAT(MPC_POS_I, 0.0f); PARAM_DEFINE_FLOAT(MPC_POS_D, 0.2f); PARAM_DEFINE_FLOAT(MPC_POS_RATE_MAX, 10.0f); PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.5f); +PARAM_DEFINE_INT32(MPC_HARD, 0); int parameters_init(struct multirotor_position_control_param_handles *h) { @@ -67,6 +68,11 @@ int parameters_init(struct multirotor_position_control_param_handles *h) h->pos_d = param_find("MPC_POS_D"); h->pos_rate_max = param_find("MPC_POS_RATE_MAX"); h->slope_max = param_find("MPC_SLOPE_MAX"); + h->slope_max = param_find("MPC_HARD"); + + h->rc_scale_pitch = param_find("RC_SCALE_PITCH"); + h->rc_scale_roll = param_find("RC_SCALE_ROLL"); + h->rc_scale_yaw = param_find("RC_SCALE_YAW"); return OK; } @@ -84,6 +90,11 @@ int parameters_update(const struct multirotor_position_control_param_handles *h, param_get(h->pos_d, &(p->pos_d)); param_get(h->pos_rate_max, &(p->pos_rate_max)); param_get(h->slope_max, &(p->slope_max)); + param_get(h->hard, &(p->hard)); + + param_get(h->rc_scale_pitch, &(p->rc_scale_pitch)); + param_get(h->rc_scale_roll, &(p->rc_scale_roll)); + param_get(h->rc_scale_yaw, &(p->rc_scale_yaw)); return OK; } |