diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 22 |
1 files changed, 19 insertions, 3 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 90dd820f4..9610ef9f7 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -45,19 +45,29 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.3f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.7f); PARAM_DEFINE_FLOAT(MPC_ALT_P, 0.1f); -PARAM_DEFINE_FLOAT(MPC_ALT_I, 0.01f); -PARAM_DEFINE_FLOAT(MPC_ALT_D, 0.2f); +PARAM_DEFINE_FLOAT(MPC_ALT_I, 0.1f); +PARAM_DEFINE_FLOAT(MPC_ALT_D, 0.1f); PARAM_DEFINE_FLOAT(MPC_ALT_RATE_MAX, 3.0f); +PARAM_DEFINE_FLOAT(MPC_POS_P, 0.1f); +PARAM_DEFINE_FLOAT(MPC_POS_I, 0.0f); +PARAM_DEFINE_FLOAT(MPC_POS_D, 0.2f); +PARAM_DEFINE_FLOAT(MPC_POS_RATE_MAX, 3.0f); +PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.3f); int parameters_init(struct multirotor_position_control_param_handles *h) { h->thr_min = param_find("MPC_THR_MIN"); h->thr_max = param_find("MPC_THR_MAX"); - /* PID parameters */ h->alt_p = param_find("MPC_ALT_P"); h->alt_i = param_find("MPC_ALT_I"); h->alt_d = param_find("MPC_ALT_D"); h->alt_rate_max = param_find("MPC_ALT_RATE_MAX"); + h->pos_p = param_find("MPC_POS_P"); + h->pos_i = param_find("MPC_POS_I"); + h->pos_d = param_find("MPC_POS_D"); + h->pos_rate_max = param_find("MPC_POS_RATE_MAX"); + h->slope_max = param_find("MPC_SLOPE_MAX"); + return OK; } @@ -69,5 +79,11 @@ int parameters_update(const struct multirotor_position_control_param_handles *h, param_get(h->alt_i, &(p->alt_i)); param_get(h->alt_d, &(p->alt_d)); param_get(h->alt_rate_max, &(p->alt_rate_max)); + param_get(h->pos_p, &(p->pos_p)); + param_get(h->pos_i, &(p->pos_i)); + param_get(h->pos_d, &(p->pos_d)); + param_get(h->pos_rate_max, &(p->pos_rate_max)); + param_get(h->slope_max, &(p->slope_max)); + return OK; } |