diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs_params.c')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 231 |
1 files changed, 231 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c new file mode 100644 index 000000000..76ed95303 --- /dev/null +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -0,0 +1,231 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Thomas Gubler <thomasgubler@gmail.com> + * + * 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 mTecs_params.c + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ + +#include <nuttx/config.h> +#include <systemlib/param/param.h> + +/* + * Controller parameters, accessible via MAVLink + */ + +/** + * mTECS enabled + * + * Set to 1 to enable mTECS + * + * @min 0 + * @max 1 + * @group mTECS + */ +PARAM_DEFINE_INT32(MT_ENABLED, 0); + +/** + * Total Energy Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f); + +/** + * Total Energy Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); + +/** + * Total Energy Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f); + +/** + * Total Energy Rate Control OFF (Cruise throttle) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); + +/** + * Energy Distribution Rate Control FF + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f); + +/** + * Energy Distribution Rate Control P + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f); + +/** + * Energy Distribution Rate Control I + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f); + + +/** + * Total Energy Distribution OFF (Cruise pitch sp) + * + * @min 0.0 + * @max 10.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f); + +/** + * Minimal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f); + +/** + * Maximal Throttle Setpoint + * + * @min 0.0 + * @max 1.0 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f); + +/** + * Minimal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f); + +/** + * Maximal Pitch Setpoint in Degrees + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f); + +/** + * P gain for the altitude control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f); + +/** + * Minimal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f); + +/** + * Maximal flight path angle setpoint + * + * @min -90.0f + * @max 90.0f + * @unit deg + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); + + +/** + * P gain for the airspeed control + * + * @min 0.0f + * @max 10.0f + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f); + +/** + * Minimal acceleration (air) + * + * @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MIN, 0.0f); + +/** + * Maximal acceleration (air) + * +* @unit m/s^2 + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); + +/** + * Airspeed derivative lowpass + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); |