diff options
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_params.c')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c new file mode 100644 index 000000000..9eb56545d --- /dev/null +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Anton Babushkin <anton.babushkin@me.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 mc_pos_control_params.c + * Multicopter position controller parameters. + */ + +#include <systemlib/param/param.h> + +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); +PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f); |