diff options
Diffstat (limited to 'src/examples/flow_speed_control/flow_speed_control_params.c')
| -rw-r--r-- | src/examples/flow_speed_control/flow_speed_control_params.c | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/src/examples/flow_speed_control/flow_speed_control_params.c b/src/examples/flow_speed_control/flow_speed_control_params.c new file mode 100644 index 000000000..8dfe54173 --- /dev/null +++ b/src/examples/flow_speed_control/flow_speed_control_params.c @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file flow_speed_control_params.c + * + */ + +#include "flow_speed_control_params.h" + +/* controller parameters */ +PARAM_DEFINE_FLOAT(FSC_S_P, 0.1f); +PARAM_DEFINE_FLOAT(FSC_L_PITCH, 0.4f); +PARAM_DEFINE_FLOAT(FSC_L_ROLL, 0.4f); + +int parameters_init(struct flow_speed_control_param_handles *h) +{ + /* PID parameters */ + h->speed_p = param_find("FSC_S_P"); + h->limit_pitch = param_find("FSC_L_PITCH"); + h->limit_roll = param_find("FSC_L_ROLL"); + h->trim_roll = param_find("TRIM_ROLL"); + h->trim_pitch = param_find("TRIM_PITCH"); + + + return OK; +} + +int parameters_update(const struct flow_speed_control_param_handles *h, struct flow_speed_control_params *p) +{ + param_get(h->speed_p, &(p->speed_p)); + param_get(h->limit_pitch, &(p->limit_pitch)); + param_get(h->limit_roll, &(p->limit_roll)); + param_get(h->trim_roll, &(p->trim_roll)); + param_get(h->trim_pitch, &(p->trim_pitch)); + + return OK; +} |