Merge branch 'master' into seatbelt_multirotor

1 files changed, 73 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
new file mode 100644
index 000000000..90dd820f4
--- /dev/null
+++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 multirotor_pos_control_params.c
+ * 
+ * Parameters for multirotor_pos_control
+ */
+
+#include "multirotor_pos_control_params.h"
+
+/* controller parameters */
+PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.3f);
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.7f);
+PARAM_DEFINE_FLOAT(MPC_ALT_P, 0.1f);
+PARAM_DEFINE_FLOAT(MPC_ALT_I, 0.01f);
+PARAM_DEFINE_FLOAT(MPC_ALT_D, 0.2f);
+PARAM_DEFINE_FLOAT(MPC_ALT_RATE_MAX, 3.0f);
+
+int parameters_init(struct multirotor_position_control_param_handles *h)
+{
+	h->thr_min 	=	param_find("MPC_THR_MIN");
+	h->thr_max 	=	param_find("MPC_THR_MAX");
+	/* PID parameters */
+	h->alt_p 	=	param_find("MPC_ALT_P");
+	h->alt_i 	=	param_find("MPC_ALT_I");
+	h->alt_d 	=	param_find("MPC_ALT_D");
+	h->alt_rate_max 	=	param_find("MPC_ALT_RATE_MAX");
+	return OK;
+}
+
+int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
+{
+	param_get(h->thr_min, &(p->thr_min));
+	param_get(h->thr_max, &(p->thr_max));
+	param_get(h->alt_p, &(p->alt_p));
+	param_get(h->alt_i, &(p->alt_i));
+	param_get(h->alt_d, &(p->alt_d));
+	param_get(h->alt_rate_max, &(p->alt_rate_max));
+	return OK;
+}