diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.h')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.h | 44 |
1 files changed, 38 insertions, 6 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 274f6c22a..14a3de2e5 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h @@ -42,15 +42,47 @@ #include <systemlib/param/param.h> struct multirotor_position_control_params { - float p; - float i; - float d; + float thr_min; + float thr_max; + float z_p; + float z_d; + float z_vel_p; + float z_vel_i; + float z_vel_d; + float z_vel_max; + float xy_p; + float xy_d; + float xy_vel_p; + float xy_vel_i; + float xy_vel_d; + float xy_vel_max; + float tilt_max; + + float rc_scale_pitch; + float rc_scale_roll; + float rc_scale_yaw; }; struct multirotor_position_control_param_handles { - param_t p; - param_t i; - param_t d; + param_t thr_min; + param_t thr_max; + param_t z_p; + param_t z_d; + param_t z_vel_p; + param_t z_vel_i; + param_t z_vel_d; + param_t z_vel_max; + param_t xy_p; + param_t xy_d; + param_t xy_vel_p; + param_t xy_vel_i; + param_t xy_vel_d; + param_t xy_vel_max; + param_t tilt_max; + + param_t rc_scale_pitch; + param_t rc_scale_roll; + param_t rc_scale_yaw; }; /** |