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 | 54 |
1 files changed, 46 insertions, 8 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 6b73dc405..7c3296cae 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -34,29 +34,67 @@ ****************************************************************************/ /* - * @file multirotor_position_control_params.c + * @file multirotor_pos_control_params.c * - * Parameters for EKF filter + * Parameters for multirotor_pos_control */ #include "multirotor_pos_control_params.h" -/* Extended Kalman Filter covariances */ - /* controller parameters */ -PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); +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, 0.1f); +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, 10.0f); +PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.5f); +PARAM_DEFINE_INT32(MPC_HARD, 0); int parameters_init(struct multirotor_position_control_param_handles *h) { - /* PID parameters */ - h->p = param_find("MC_POS_P"); + h->thr_min = param_find("MPC_THR_MIN"); + h->thr_max = param_find("MPC_THR_MAX"); + 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"); + h->slope_max = param_find("MPC_HARD"); + + h->rc_scale_pitch = param_find("RC_SCALE_PITCH"); + h->rc_scale_roll = param_find("RC_SCALE_ROLL"); + h->rc_scale_yaw = param_find("RC_SCALE_YAW"); return OK; } int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { - param_get(h->p, &(p->p)); + param_get(h->thr_min, &(p->thr_min)); + param_get(h->thr_max, &(p->thr_max)); + param_get(h->alt_p, &(p->alt_p)); + 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)); + param_get(h->hard, &(p->hard)); + + param_get(h->rc_scale_pitch, &(p->rc_scale_pitch)); + param_get(h->rc_scale_roll, &(p->rc_scale_roll)); + param_get(h->rc_scale_yaw, &(p->rc_scale_yaw)); return OK; } |