diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_params.c')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 42 |
1 files changed, 20 insertions, 22 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index a0b1706f2..819847b40 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -40,8 +40,6 @@ * @author Anton Babushkin <anton.babushkin@me.com> */ -#include <px4_defines.h> -#include "mc_att_control_params.h" #include <systemlib/param/param.h> /** @@ -52,7 +50,7 @@ * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P); +PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f); /** * Roll rate P gain @@ -62,7 +60,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f); /** * Roll rate I gain @@ -72,7 +70,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f); /** * Roll rate D gain @@ -82,7 +80,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f); /** * Pitch P gain @@ -93,7 +91,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P); +PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f); /** * Pitch rate P gain @@ -103,7 +101,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f); /** * Pitch rate I gain @@ -113,7 +111,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f); /** * Pitch rate D gain @@ -123,7 +121,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f); /** * Yaw P gain @@ -134,7 +132,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAW_P); +PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); /** * Yaw rate P gain @@ -144,7 +142,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P); +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /** * Yaw rate I gain @@ -154,7 +152,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I); +PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); /** * Yaw rate D gain @@ -164,7 +162,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D); +PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); /** * Yaw feed forward @@ -175,7 +173,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D); * @max 1.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF); +PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); /** * Max yaw rate @@ -187,7 +185,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF); * @max 360.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX); +PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f); /** * Max manual roll @@ -197,7 +195,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX); * @max 90.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX); +PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f); /** * Max manual pitch @@ -207,7 +205,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX); * @max 90.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX); +PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f); /** * Max manual yaw rate @@ -216,7 +214,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX); +PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f); /** * Max acro roll rate @@ -226,7 +224,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX); * @max 360.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX); +PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f); /** * Max acro pitch rate @@ -236,7 +234,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX); * @max 360.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX); +PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f); /** * Max acro yaw rate @@ -245,4 +243,4 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX); * @min 0.0 * @group Multicopter Attitude Control */ -PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX); +PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f); |