diff options
Diffstat (limited to 'src/modules/mc_pos_control')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 | ||||
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 41 | ||||
-rw-r--r-- | src/modules/mc_pos_control/module.mk | 2 |
3 files changed, 43 insertions, 8 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 28c8861b6..eb4d1f75e 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <anton.babushkin@me.com> + * 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 @@ -34,8 +34,12 @@ /** * @file mc_pos_control_main.cpp + * Multicopter position controller. * - * Multirotor position controller. + * The controller has two loops: P loop for position error and PID loop for velocity error. + * Output of velocity controller is thrust vector that splitted to thrust direction + * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself). + * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging. */ #include <nuttx/config.h> diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 67aa24872..a00bc3644 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -1,13 +1,44 @@ -/* - * mc_pos_control_params.c +/**************************************************************************** * - * Created on: 26.12.2013 - * Author: ton + * 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> -/* multicopter position controller parameters */ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); diff --git a/src/modules/mc_pos_control/module.mk b/src/modules/mc_pos_control/module.mk index 1d98173fa..0b566d7bd 100644 --- a/src/modules/mc_pos_control/module.mk +++ b/src/modules/mc_pos_control/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions |