diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_sim.cpp | 29 |
1 files changed, 29 insertions, 0 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_sim.cpp b/src/modules/mc_att_control/mc_att_control_sim.cpp index faf729420..a8467f6b1 100644 --- a/src/modules/mc_att_control/mc_att_control_sim.cpp +++ b/src/modules/mc_att_control/mc_att_control_sim.cpp @@ -46,6 +46,35 @@ using namespace std; #endif +MulticopterAttitudeControlSim::MulticopterAttitudeControlSim() +{ + /* setup standard gains */ + //XXX: make these configurable + _params.att_p(0) = 5.0; + _params.rate_p(0) = 0.05; + _params.rate_i(0) = 0.0; + _params.rate_d(0) = 0.003; + /* pitch gains */ + _params.att_p(1) = 5.0; + _params.rate_p(1) = 0.05; + _params.rate_i(1) = 0.0; + _params.rate_d(1) = 0.003; + /* yaw gains */ + _params.att_p(2) = 2.8; + _params.rate_p(2) = 0.2; + _params.rate_i(2) = 0.1; + _params.rate_d(2) = 0.0; + _params.yaw_rate_max = 0.5; + _params.yaw_ff = 0.5; + _params.man_roll_max = 0.6; + _params.man_pitch_max = 0.6; + _params.man_yaw_max = 0.6; +} + +MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim() +{ +} + void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude) { math::Quaternion quat; |