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| author | tumbili <bapstr@ethz.ch> | 2015-01-18 17:46:01 +0100 |
|---|---|---|
| committer | tumbili <bapstr@ethz.ch> | 2015-01-18 18:00:14 +0100 |
| commit | beab89367f5cc2765c747fb463a27ce001206dd9 (patch) | |
| tree | cc0e224ebd3a9a00c45bd9a7165531afe5749db8 /src/modules/vtol_att_control/vtol_att_control_params.c | |
| parent | fd1f36c3a18355c94df0795156a0fe4341513e86 (diff) | |
| download | px4-firmware-beab89367f5cc2765c747fb463a27ce001206dd9.tar.gz px4-firmware-beab89367f5cc2765c747fb463a27ce001206dd9.tar.bz2 px4-firmware-beab89367f5cc2765c747fb463a27ce001206dd9.zip | |
calculate total airflow over elevons using physical of flow behind propeller. read local position topic for future use.
Diffstat (limited to 'src/modules/vtol_att_control/vtol_att_control_params.c')
| -rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_params.c | 35 |
1 files changed, 34 insertions, 1 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index d1d4697f3..33752b2c4 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900); * @min 0.0 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f); +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,10.0f); /** * Maximum airspeed in multicopter mode @@ -109,3 +109,36 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0); */ PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f); +/** + * Motor max power + * + * Indicates the maximum power the motor is able to produce. Used to calculate + * propeller efficiency map. + * + * @min 1 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_POWER_MAX,120.0f); + +/** + * Propeller efficiency parameter + * + * Influences propeller efficiency at different power settings. Should be tuned beforehand. + * + * @min 0.5 + * @max 0.9 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_PROP_EFF,0.0f); + +/** + * Total airspeed estimate low-pass filter gain + * + * Gain for tuning the low-pass filter for the total airspeed estimate + * + * @min 0.0 + * @max 0.99 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN,0.3f); + |