diff options
Diffstat (limited to 'apps/fixedwing_att_control/fixedwing_att_control_main.c')
| -rw-r--r-- | apps/fixedwing_att_control/fixedwing_att_control_main.c | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_main.c b/apps/fixedwing_att_control/fixedwing_att_control_main.c index 9bf984d1d..a6dd1c9fb 100644 --- a/apps/fixedwing_att_control/fixedwing_att_control_main.c +++ b/apps/fixedwing_att_control/fixedwing_att_control_main.c @@ -65,6 +65,34 @@ #include <fixedwing_att_control_rate.h> #include <fixedwing_att_control_att.h> +/* + * Controller parameters, accessible via MAVLink + * + */ +// Roll control parameters +PARAM_DEFINE_FLOAT(FW_ROLLRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_ROLLRATE_LIM, 0.7f); // Roll rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_ROLL_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f); // Roll angle limit in radians + +//Pitch control parameters +PARAM_DEFINE_FLOAT(FW_PITCHRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_PITCHRATE_LIM, 0.35f); // Pitch rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_PITCH_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f); // Pitch angle limit in radians + +//Yaw control parameters //XXX TODO this is copy paste, asign correct values +PARAM_DEFINE_FLOAT(FW_YAWRATE_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_AWU, 0.0f); +PARAM_DEFINE_FLOAT(FW_YAWRATE_LIM, 0.35f); // Yaw rate limit in radians/sec +PARAM_DEFINE_FLOAT(FW_YAW_P, 0.3f); +PARAM_DEFINE_FLOAT(FW_YAW_LIM, 0.35f); // Yaw angle limit in radians + /* Prototypes */ /** * Deamon management function. |