diff options
| -rw-r--r-- | apps/controllib/fixedwing.cpp | 2 | ||||
| -rw-r--r-- | apps/examples/control_demo/params.c | 9 |
2 files changed, 9 insertions, 2 deletions
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index bbf87533e..1cc28b9dd 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -158,7 +158,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par // altitude/roc hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "H2THR"), + _roc2Thr(this, "ROC2THR"), // guidance block _guide(this, ""), diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index 8db61d4d4..527709629 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -58,7 +58,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb // this is what rate of climb is commanded (in m/s) -// when the throttle stick is fully defelcted in simple mode +// when the pitch stick is fully defelcted in simple mode PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); +// rate of climb -> thr +PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // altitude to throttle PID +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); + PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) |