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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-06 11:11:58 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-04-06 11:11:58 +0200 |
| commit | 45cef9eed4a9f1c6761f41a187672cc4ba82cd39 (patch) | |
| tree | 200141a22b785fd2ba7b89127b231e7c8c1bc225 /src | |
| parent | be918cd6d0a0d99bd884cc9c186bc852cf3f7bba (diff) | |
| download | px4-firmware-45cef9eed4a9f1c6761f41a187672cc4ba82cd39.tar.gz px4-firmware-45cef9eed4a9f1c6761f41a187672cc4ba82cd39.tar.bz2 px4-firmware-45cef9eed4a9f1c6761f41a187672cc4ba82cd39.zip | |
mtecs: better (but not final) default parameters for mtecs
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 22 |
1 files changed, 11 insertions, 11 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index f8db70304..194dfa150 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -55,7 +55,7 @@ * @max 1 * @group mTECS */ -PARAM_DEFINE_INT32(MT_ENABLED, 0); +PARAM_DEFINE_INT32(MT_ENABLED, 1); /** * Total Energy Rate Control FF @@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); /** * Total Energy Rate Control P @@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); /** * Total Energy Rate Control I @@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); /** * Total Energy Rate Control OFF (Cruise throttle) @@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); /** * Energy Distribution Rate Control P @@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f); /** * Energy Distribution Rate Control I @@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f); /** @@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); /** * P gain for the altitude control @@ -175,7 +175,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); /** * D gain for the altitude control @@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); /** * Maximal flight path angle setpoint @@ -222,7 +222,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); +PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); /** * Minimal acceleration (air) |