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author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-09 14:09:48 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-09 14:09:48 +0400 |
commit | 04fbed493aab1dede6c2200aaab2b990d24a66e7 (patch) | |
tree | 8435d3fdf430e5bdf1c18a73e32525ad08d1d5a7 /src/modules/multirotor_pos_control/multirotor_pos_control_params.h | |
parent | 320a5b7579c963fc5fb4399d5ad95f2c09e3a91b (diff) | |
download | px4-firmware-04fbed493aab1dede6c2200aaab2b990d24a66e7.tar.gz px4-firmware-04fbed493aab1dede6c2200aaab2b990d24a66e7.tar.bz2 px4-firmware-04fbed493aab1dede6c2200aaab2b990d24a66e7.zip |
multirotor_pos_control: use separate PID controllers for position and velocity
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.h')
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.h | 42 |
1 files changed, 24 insertions, 18 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 13b667ad3..e9b1f5c39 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h @@ -44,16 +44,19 @@ struct multirotor_position_control_params { float thr_min; float thr_max; - float alt_p; - float alt_i; - float alt_d; - float alt_rate_max; - float pos_p; - float pos_i; - float pos_d; - float pos_rate_max; + float z_p; + float z_d; + float z_vel_p; + float z_vel_i; + float z_vel_d; + float z_vel_max; + float xy_p; + float xy_d; + float xy_vel_p; + float xy_vel_i; + float xy_vel_d; + float xy_vel_max; float slope_max; - int hard; float rc_scale_pitch; float rc_scale_roll; @@ -63,16 +66,19 @@ struct multirotor_position_control_params { struct multirotor_position_control_param_handles { param_t thr_min; param_t thr_max; - param_t alt_p; - param_t alt_i; - param_t alt_d; - param_t alt_rate_max; - param_t pos_p; - param_t pos_i; - param_t pos_d; - param_t pos_rate_max; + param_t z_p; + param_t z_d; + param_t z_vel_p; + param_t z_vel_i; + param_t z_vel_d; + param_t z_vel_max; + param_t xy_p; + param_t xy_d; + param_t xy_vel_p; + param_t xy_vel_i; + param_t xy_vel_d; + param_t xy_vel_max; param_t slope_max; - param_t hard; param_t rc_scale_pitch; param_t rc_scale_roll; |