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Diffstat (limited to 'apps/examples/control_demo/params.c')
-rw-r--r-- | apps/examples/control_demo/params.c | 63 |
1 files changed, 63 insertions, 0 deletions
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c new file mode 100644 index 000000000..4eec456fb --- /dev/null +++ b/apps/examples/control_demo/params.c @@ -0,0 +1,63 @@ +#include <systemlib/param/param.h> + +// currently tuned for easystar from arkhangar in HIL +//https://github.com/arktools/arkhangar + +// 16 is max name length + +// gyro low pass filter +PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq + +// yaw washout +PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass + +// stabilization mode +PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron +PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator +PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder + +// psi -> phi -> p +PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll +PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate +PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit + +// velocity -> theta +PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f); +PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f); +PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f); + + +// theta -> q +PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f); + +// h -> thr +PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f); + +// crosstrack +PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f); + +// speed command +PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); +PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f); +PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); + +// trim +PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); +PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f); +PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f); |