diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c new file mode 100644 index 000000000..d210ec712 --- /dev/null +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -0,0 +1,109 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: 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 fw_pos_control_l1_params.c + * + * Parameters defined by the L1 position control task + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Controller parameters, accessible via MAVLink + * + */ + +PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f); + + +PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f); + + +PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f); + + +PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f); + + +PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); + + +PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); + + +PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); + + +PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); + + +PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); + + +PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); + + +PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); + + +PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); + + +PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); + + +PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); + + +PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); + + +PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); + + +PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); + + +PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); + + +PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); + + +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); |